Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

Thaned Rojsiraphisal, Saleh Mobayen, Jihad H. Asad, Mai The Vu, Arthur Chang and Jirapong Puangmalai
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Thaned Rojsiraphisal: Advanced Research Center for Computational Simulation, Department of Mathematics, Faculty of Science, Chiang Mai University, Chiang Mai 50200, Thailand
Saleh Mobayen: Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan
Jihad H. Asad: Department of Physics, Faculty of Applied Sciences, Palestine Technical University, Tulkarm P.O. Box 7, Palestine
Mai The Vu: School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea
Arthur Chang: Bachelor Program in Interdisciplinary Studies, National Yunlin University of Science and Technology, Yunlin 64002, Taiwan
Jirapong Puangmalai: Department of Mathematics, Faculty of Education, Kamphaeng Phet Rajabhat University, Kamphaeng Phet 62000, Thailand

Mathematics, 2021, vol. 9, issue 16, 1-17

Abstract: In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the exterior disturbances of the system and develop the finite time control law. The proposed controller can regulate the state trajectories of the underactuated systems to the origin within a finite time in the existence of external disturbances. The stability analysis of the proposed control scheme is verified via the Lyapunov stabilization theory. The designed control law is enough to drive a switching surface achieving the fast terminal sliding mode against severe model nonlinearities with large parametric uncertainties and external disturbances. Illustrative simulation results and experimental validations on a cart-inverted pendulum system are provided to display the success and efficacy of the offered method.

Keywords: disturbance observer; fast terminal sliding mode; finite time convergence; Lyapunov stability; underactuated robotic system (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (3)

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