Frontiers of Mechanical Engineering
>> 2021,
Volume 16,
Issue 2
doi:
10.1007/s11465-020-0620-4
RESEARCH ARTICLE
Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with uncertainties
. School of Mechanical Engineering, North University of China, Taiyuan 030051, China.. Department of Mining Engineering, Lvliang University, Lvliang 033001, China.. Department of Informatics, University of Hamburg, Hamburg 22527, Germany
Received: 2021-01-30
Accepted: 2021-03-10
Available online: 2021-03-10
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Abstract
This study proposes a gained switching-based discrete-time sliding mode control method to address the chattering issue in disturbed discrete-time systems, which suffer from various unknown uncertainties. Through the new structure of the designed reaching law, the proposed method can effectively increase the convergence speed while guaranteeing chattering-free control. The performance of controlling underactuated robotic systems can be further improved by the adoption of fuzzy logic to perform adaptive online hyper-parameter tuning. In addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness of the proposed reaching law. Results reveal the dynamic performance and robustness of the proposed reaching law in the studied system and prove the proposed method’s superiority over other state-of-the-art methods.
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