Dynamic surface control with a nonlinear disturbance observer for multi‐degree of freedom underactuated mechanical systems

Ding, Feng; Huang, Jian; Xu, WenXia; Yang, Chenguang; Sun, Chong; Ai, Yong

Abstract

Underactuated systems are extensively utilized in practice while attracting a huge deal of attention in theoretical studies. There are few robust control strategies for general underactuated systems because of the variety of their dynamic models. A dynamic surface control strategy with a nonlinear disturbance observer is proposed in this study, to stabilize multi-degree of freedom underactuated systems. In such systems the number of underactuated degrees of freedom is not higher compared to the actuated ones. A disturbance observer is utilized to dispose of the uncertain disturbance and cross terms in dynamic model which may cause failure to the controller. Then, a dynamic surface control strategy is presented which is not sensitive to the diversity of dynamic models. The stability of whole system is proven by Lyapunov-based method. The control law is successfully applied to nonlinear underactuated systems in benchmark cascade form such as two-translational oscillator with rotational actuator, crane, wheeled inverted pendulum. The effectiveness of proposed controllers are illustrated by MATLAB simulation results. Finally, comparative studies are presented to verify the superiority of the proposed method.

• Journal Article Type: Article
• Acceptance Date: Jun 4, 2022
• Online Publication Date: Jul 12, 2022
• Publication Date: Sep 25, 2022
• Deposit Date: Jul 22, 2022
• Publicly Available Date: Jul 13, 2023
• Journal: International Journal of Robust and Nonlinear Control
• Print ISSN: 1049-8923
• Electronic ISSN: 1099-1239
• Publisher: Wiley
• Peer Reviewed: Peer Reviewed
• Volume: 32
• Issue: 14
• DOI: https://doi.org/10.1002/rnc.6275
• Keywords: Electrical and Electronic Engineering; Industrial and Manufacturing Engineering; Mechanical Engineering; Aerospace Engineering; Biomedical Engineering; General Chemical Engineering; Control and Systems Engineering; dynamic surface control, nonlinear distu
• Public URL: https://uwe-repository.worktribe.com/output/9720039
• Publisher URL: https://onlinelibrary.wiley.com/doi/10.1002/rnc.6275
• Additional Information: Received: 2021-04-28; Accepted: 2022-06-04; Published: 2022-07-12