Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with uncertainties

作     者：Hui LI Ruiqin LI Jianwei ZHANG Hui LI;Ruiqin LI;Jianwei ZHANG

作者机构：School of Mechanical EngineeringNorth University of ChinaTaiyuan 030051China Department of Mining EngineeringLvliang UniversityLvliang 033001China Department of InformaticsUniversity of HamburgHamburg 22527Germany 

出 版 物：《Frontiers of Mechanical Engineering》 (机械工程前沿（英文版）)

年 卷 期：2021年第16卷第2期

页      面：353-362页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：This research was funded by the Key Research and Development Program of Shanxi Province of China(Grant Nos.201803D421027 and 201903D421051) 

主　　题：sliding-mode control robot control discrete-time uncertain systems fuzzy logic 

摘      要：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.