A Finite-Time Sliding Mode Control Approach for Constrained Euler–Lagrange System

Guhao Sun and Qingshuang Zeng ()
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Guhao Sun: School of Astronautics, Harbin Institute of Technology, Harbin 150001, China
Qingshuang Zeng: School of Astronautics, Harbin Institute of Technology, Harbin 150001, China

Mathematics, 2023, vol. 11, issue 12, 1-18

Abstract: This paper investigates a general control strategy to track the reference trajectory for the constrained Euler–Lagrange system with model uncertainties and unknown external disturbances. Unlike the disturbances assumed to be upper-bounded by a constant in other papers, we consider the disturbances to be bounded by a function of the system states, which are more realistic. First, the nominal controller was designed based on the nonsingular fast terminal sliding mode control, and global fast finite-time convergence to the sliding surface was guaranteed. As the system is state-constrained in this paper, we introduce the control barrier function approach to formulate the constraints and ensure the system does not break the restrictions. The proposed control strategy was numerically assessed on a two-link robot manipulator system, and the simulation results illustrate the effectiveness of the proposed control strategy.

Keywords: Euler–Lagrange system; terminal sliding mode control; control barrier function; nonsingularity; finite-time convergence (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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