文章基本信息

标题：Control of Fully Actuated Mechanical Systems via Super-twisting Based Lyapunov Redesign
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作者：Manuel A. Estrada ; Leonid Fridman ; Jaime A. Moreno 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：5117-5121
DOI：10.1016/j.ifacol.2020.12.1148
语种：English
出版社：Elsevier
摘要：AbstractThe problem control of fully actuated of mechanical systems under uncertainties is considered. With this aim a concept of Lyapunov redesign is revisited. The derivative of the Lyapunov function for a nominal model of the robot is used for the sliding surface design. This surface permits to design a super-twisting controller allowing to compensate the Lipschitz uncertainties, providing theoretically exact convergence of the states of uncertain system to the origin by means of a continuous control signal. The proposed result is illustrated for simulation example controlling an uncertain planar robot.
关键词：KeywordsSliding mode controlStability of nonlinear systemsRobust control