TY - JOUR
T1 - Robust output-feedback orbital stabilization for underactuated mechanical systems via high-order sliding modes
AU - de Loza, A. Ferreira
AU - Ortega-Pérez, J. A.
AU - Aguilar, L. T.
AU - Galván-Guerra, R.
N1 - Publisher Copyright:
© 2023 Elsevier Ltd
PY - 2023/8
Y1 - 2023/8
N2 - The manuscript deals with the robust orbital stabilization for a class of disturbed Euler–Lagrange systems with one degree of underactuation. The proposed strategy relies on the virtual holonomic constraints approach, using incomplete state measurements. First, a high-order sliding-mode extended observer estimates the state and the disturbances affecting the input channel. Then, proposing a new set of coordinates, the so-called virtual holonomic constraints, a robust output partial-feedback linearization approach takes the system into a double integrator with a particular zero dynamics. Thus, considering the general integral of motion of the zero dynamics, the orbital stabilization is reduced to stabilize a linear time-varying system. The resulting control law is a continuous signal. Therefore, the robustness to disturbances is addressed without the tarnishing effects of chattering. The closed-loop stability analysis is done using the Lyapunov theory. The feasibility of the method is illustrated experimentally in a cart-pendulum system.
AB - The manuscript deals with the robust orbital stabilization for a class of disturbed Euler–Lagrange systems with one degree of underactuation. The proposed strategy relies on the virtual holonomic constraints approach, using incomplete state measurements. First, a high-order sliding-mode extended observer estimates the state and the disturbances affecting the input channel. Then, proposing a new set of coordinates, the so-called virtual holonomic constraints, a robust output partial-feedback linearization approach takes the system into a double integrator with a particular zero dynamics. Thus, considering the general integral of motion of the zero dynamics, the orbital stabilization is reduced to stabilize a linear time-varying system. The resulting control law is a continuous signal. Therefore, the robustness to disturbances is addressed without the tarnishing effects of chattering. The closed-loop stability analysis is done using the Lyapunov theory. The feasibility of the method is illustrated experimentally in a cart-pendulum system.
KW - Cart-pendulum system
KW - High-order sliding mode observer
KW - Nonlinear feedback control
KW - Orbital stability
KW - Underactuated system
KW - Virtual holonomic constraints
UR - http://www.scopus.com/inward/record.url?scp=85151802224&partnerID=8YFLogxK
U2 - 10.1016/j.nahs.2023.101351
DO - 10.1016/j.nahs.2023.101351
M3 - Artículo
AN - SCOPUS:85151802224
SN - 1751-570X
VL - 49
JO - Nonlinear Analysis: Hybrid Systems
JF - Nonlinear Analysis: Hybrid Systems
M1 - 101351
ER -