About this Journal Submit a Manuscript Table of Contents
Mathematical Problems in Engineering
Volume 2012 (2012), Article ID 270649, 23 pages
http://dx.doi.org/10.1155/2012/270649
Research Article

An Adaptive Variable Structure Control Scheme for Underactuated Mechanical Manipulators

1Department of Vehicle Engineering, National Pingtung University of Science and Technology, Pingtung 91201, Taiwan
2Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-sen University, Kaohsiung 80424, Taiwan

Received 10 August 2012; Accepted 20 October 2012

Academic Editor: Zhijian Ji

Copyright © 2012 Jung Hua Yang and Kuang Shine Yang. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. I. Fantoni and R. Lozano, Non-Linear Control for Underactuated Mechanical Systems, Springer, 2002.
  2. A. M. Bloch, Nonholonomic mechanics and control, vol. 24 of Interdisciplinary Applied Mathematics, Springer, New York, NY, USA, 2003. View at Publisher · View at Google Scholar
  3. J. Hu and C. Huang, “Simulation on multiple impulse correction control system of rockets,” in Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA '07), pp. 1518–1522, August 2007. View at Publisher · View at Google Scholar · View at Scopus
  4. Y. J. Huang, T. C. Kuo, and H. K. Way, “Robust vertical takeoff and landing aircraft control via integral sliding mode,” IEE Proceedings, vol. 150, no. 4, pp. 383–388, 2003. View at Publisher · View at Google Scholar · View at Scopus
  5. F. M. C. Ching and D. Wang, “Exact solution and infinite-dimensional stability analysis of a single flexible link in collision,” IEEE Transactions on Robotics and Automation, vol. 19, no. 6, pp. 1015–1020, 2003. View at Publisher · View at Google Scholar · View at Scopus
  6. S. Awtar, N. King, T. Allen et al., “Inverted pendulum systems: rotary and arm-driven—a mechatronic system design case study,” Mechatronics, vol. 12, no. 2, pp. 357–370, 2002. View at Publisher · View at Google Scholar · View at Scopus
  7. W. Wang, J. Yi, D. Zhao, and D. Liu, “Design of a stable sliding-mode controller for a class of second-order underactuated systems,” IEE Proceedings, vol. 151, no. 6, pp. 683–690, 2004. View at Publisher · View at Google Scholar · View at Scopus
  8. Y. Hao, J. Yi, D. Zhao, and W. Wang, “Proposal of incremental sliding mode control,” in Proceedings of the 1st International Conference on Innovative Computing, Information and Control (ICICIC '06), pp. 340–343, September 2006. View at Publisher · View at Google Scholar · View at Scopus
  9. J. Acosta, R. Ortega, A. Astolfi, and A. D. Mahindrakar, “Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one,” IEEE Transactions on Automatic Control, vol. 50, no. 12, pp. 1936–1955, 2005. View at Publisher · View at Google Scholar
  10. R. Ortega, M. W. Spong, F. Gómez-Estern, and G. Blankenstein, “Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment,” IEEE Transactions on Automatic Control, vol. 47, no. 8, pp. 1218–1233, 2002. View at Publisher · View at Google Scholar
  11. J. Hauser, S. Sastry, and P. Kokotović, “Nonlinear control via approximate input-output linearization: the ball and beam example,” IEEE Transactions on Automatic Control, vol. 37, no. 3, pp. 392–398, 1992. View at Publisher · View at Google Scholar
  12. K. S. Narendra and A. M. Annaswamy, Stable Adaptive Systems, Prentice Hall, 1989.
  13. V. I. Utkin, Sliding Modes in Control and Optimization, Communications and Control Engineering Series, Springer, Berlin, Germnay, 1992.
  14. X. Yu and O. Kaynak, “Sliding-mode control with soft computing: a survey,” IEEE Transactions on Industrial Electronics, vol. 56, no. 9, pp. 3275–3285, 2009. View at Publisher · View at Google Scholar · View at Scopus
  15. A. van der Schaft, L2 Gain and Passivity Techniques in Nonlinear Control, Springer, 1996.
  16. R. Sepulchre, M. Jankovic, and P. Kokotovic, Constructructive Nonlinear Control, Springer, 1997.
  17. M. Krstic, I. Kanellakopoulos, and P. Kokotovic, Nonlinear and Adaptive Control Design, John Wiley & Sons, 1995.
  18. Y. Zhang and P. Y. Peng, “Stable neural controller design for unknown nonlinear systems using backstepping,” in Proceedings of the American Control Conference, pp. 1067–1071, June 1999. View at Scopus
  19. S. C. Tong, X. L. He, and H. G. Zhang, “A combined backstepping and small-gain approach to robust adaptive fuzzy output feedback control,” IEEE Transactions on Fuzzy Systems, vol. 17, no. 5, pp. 1059–1069, 2009. View at Publisher · View at Google Scholar · View at Scopus
  20. S. Tong, C. Liu, and Y. Li, “Fuzzy-adaptive decentralized output-feedback control for large-scale nonlinear systems with dynamical uncertainties,” IEEE Transactions on Fuzzy Systems, vol. 18, no. 5, pp. 845–861, 2010. View at Publisher · View at Google Scholar · View at Scopus
  21. A. Ibeas and M. de la Sen, “Robustly stable adaptive control of a tandem of master-slave robotic manipulators with force reflection by using a multiestimation scheme,” IEEE Transactions on Systems, Man, and Cybernetics, Part B, vol. 36, no. 5, pp. 1162–1179, 2006. View at Publisher · View at Google Scholar · View at Scopus
  22. S. Tong and H. X. Li, “Fuzzy adaptive sliding-mode control for MIMO nonlinear systems,” IEEE Transactions on Fuzzy Systems, vol. 11, no. 3, pp. 354–360, 2003. View at Publisher · View at Google Scholar · View at Scopus
  23. M. S. Park and D. Chwa, “Swing-up and stabilization control of inverted-pendulum systems via coupled sliding-mode control method,” IEEE Transactions on Industrial Electronics, vol. 56, no. 9, pp. 3541–3555, 2009. View at Publisher · View at Google Scholar · View at Scopus
  24. H. K. Khalil, Nonlinear System, Prentice Hall, Upper Saddle River, NJ, USA, 1996.