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Sliding Mode Based Decentralized Tracking Control of Underactuated Four-Body Systems

Ding, Yueheng, Yan, Xinggang, Mao, Zehui, Jiang, Bin, Spurgeon, Sarah K. (2022) Sliding Mode Based Decentralized Tracking Control of Underactuated Four-Body Systems. In: 2022 13th Asian Control Conference (ASCC). . IEEE (doi:10.23919/ASCC56756.2022.9828154) (Access to this publication is currently restricted. You may be able to access a copy if URLs are provided) (KAR id:97362)

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In this paper, output tracking control of four-body systems with flexible links is considered, where only the first and last bodies are with actuators. The systems are mathematically modelled based on the Newton’s second law, which is described as an interconnected system with two subsystems. Due to the mechanical wear and changes of the external environment, it is necessary to consider uncertainties in the systems which are assumed to be bounded by known functions. Based on sliding mode techniques, a decentralized control scheme is proposed such that the outputs of the controlled systems can track the desired signals uniformly ultimately. Using specific coordinate transformations, the considered systems are transformed to a new system with a special structure to facilitate the design of sliding surfaces and sliding mode controllers. A set of conditions is developed under which the designed decentralized controller drives the tracking errors onto the sliding surface and stay on the surface thereafter while the system states are bounded. For simulation purposes, the desired signals are selected as part of a hyperbolic function which is time-varying and in consistence with the real situations. Simulation demonstrates that the proposed control strategy is effective and feasible.

Item Type: Conference or workshop item (Paper)
DOI/Identification number: 10.23919/ASCC56756.2022.9828154
Subjects: T Technology > T Technology (General)
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Funders: University of Kent (
Depositing User: Xinggang Yan
Date Deposited: 10 Oct 2022 14:59 UTC
Last Modified: 11 Oct 2022 16:55 UTC
Resource URI: (The current URI for this page, for reference purposes)
Yan, Xinggang:
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