Barrier Function-Based Adaptive Composite Sliding Mode Control for a Class of MIMO Underactuated Systems Subject to Disturbances

• Published in: IEEE transactions on industrial informatics Vol. 20; no. 9; pp. 11429 - 11437
• Main Authors: Yang, Yana, Zhou, Xiaoshuang, Li, Junpeng, Hua, Changchun
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.09.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Adaptive sliding mode control; Adaptive systems; Algorithms; barrier function (BF); Control algorithms; Control methods; Control theory; Couplings; dead zones; Disturbances; Error analysis; Informatics; input saturation; Liapunov functions; MIMO; multiple-inputs–multiple-outputs (MIMO) underactuated systems; Nonlinear phenomena; Proportional integral; Sliding mode control; Stability analysis; Surface stability; Tower cranes; Underactuated surface vessels; Upper bound; Upper bounds

This article proposes the design and verification of a novel barrier function (BF)-based adaptive composite sliding mode control method dedicated to the multiple-inputs-multiple-outputs underactuated systems. The proposed scheme is constructed by a composite sliding mode surface along with dual adap...