An intelligent controller for underactuated mechanical systems
Abstract
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external disturbances that can arise. The sliding surfaces are defined as a linear combination of both actuated and unactuated variables. A radial basis function is added to compensate the performance drop when, in order to avoid the chattering phenomenon, the sign function is substituted by a saturation function in the conventional sliding mode controller. An application of the proposed scheme is introduced for an inverted pendulum, in order to illustrate the controller design method, and numerical results are presented to demonstrate the improved performance of the resulting intelligent controller.
Cite
@article{arxiv.2205.11585,
title = {An intelligent controller for underactuated mechanical systems},
author = {Josiane Maria de Macedo Fernande and Marcelo Costa Tanaka and Wallace Moreira Bessa and Edwin Kreuzer},
journal= {arXiv preprint arXiv:2205.11585},
year = {2022}
}
Comments
References added. This is a slightly expanded version of the work originally presented at DINAME 2017 - 17th International Symposium on Dynamic Problems of Mechanics, 2017, S\~ao Sebasti\~ao, Brazil