This paper presents an optimal sliding mode cascade control for stabilization of a class of underactuated nonlinear mechanical systems. A discrete-time, nonlinear model predictive control structure is used to optimally select and update the parameters of the sliding mode control surfaces at specified intervals in order to achieve a desired performance objective. The determination of these surface parameters is subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as input saturation. Nominal stability of the optimal cascade control structure is demonstrated and its robust performance is illustrated using an experimental rotary inverted pendulum system.
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e-mail: hashem.ashrafiuon@villanova.edu
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March 2012
Research Papers
Optimal Sliding Mode Cascade Control for Stabilization of Underactuated Nonlinear Systems
Kenneth R. Muske,
Kenneth R. Muske
Professor
Department of Chemical Engineering,
Villanova University
, Villanova
, PA 19085
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Hashem Ashrafiuon,
Hashem Ashrafiuon
Director and Professor
Department of Mechanical Engineering, Center for Nonlinear Dynamics and Control,
e-mail: hashem.ashrafiuon@villanova.edu
Villanova University
, Villanova
, PA 19085
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Sergey Nersesov,
Sergey Nersesov
Associate Professor
Department of Mechanical Engineering, Center for Nonlinear Dynamics and Control,
Villanova University
, Villanova
, PA 19085
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Mehdi Nikkhah
Mehdi Nikkhah
Research Assistant
Department of Mechanical Engineering, Center for Nonlinear Dynamics and Control,
Villanova University
, Villanova
, PA 19085
Search for other works by this author on:
Kenneth R. Muske
Professor
Department of Chemical Engineering,
Villanova University
, Villanova
, PA 19085
Hashem Ashrafiuon
Director and Professor
Department of Mechanical Engineering, Center for Nonlinear Dynamics and Control,
Villanova University
, Villanova
, PA 19085e-mail: hashem.ashrafiuon@villanova.edu
Sergey Nersesov
Associate Professor
Department of Mechanical Engineering, Center for Nonlinear Dynamics and Control,
Villanova University
, Villanova
, PA 19085
Mehdi Nikkhah
Research Assistant
Department of Mechanical Engineering, Center for Nonlinear Dynamics and Control,
Villanova University
, Villanova
, PA 19085J. Dyn. Sys., Meas., Control. Mar 2012, 134(2): 021020 (11 pages)
Published Online: January 12, 2012
Article history
Received:
July 23, 2010
Revised:
September 6, 2011
Accepted:
September 12, 2011
Online:
January 12, 2012
Published:
January 12, 2012
Citation
Muske, K. R., Ashrafiuon, H., Nersesov, S., and Nikkhah, M. (January 12, 2012). "Optimal Sliding Mode Cascade Control for Stabilization of Underactuated Nonlinear Systems." ASME. J. Dyn. Sys., Meas., Control. March 2012; 134(2): 021020. https://doi.org/10.1115/1.4005367
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