Passivity-based sliding mode control for mechanical port-Hamiltonian systems

TL;DR

This paper introduces a passivity-based sliding mode control method for mechanical port-Hamiltonian systems that balances robustness and chattering reduction through adjustable parameters and extends applicability to trajectory tracking.

Contribution

It presents a novel PBSMC approach combining sliding mode and passivity-based control with adjustable trade-offs and relaxes previous restrictive conditions for broader application.

Findings

Effective in trajectory tracking control

Robust against matched and unmatched disturbances

Reduces chattering while maintaining stability

Abstract

In this work, we propose a new passivity-based sliding mode control method for mechanical port-Hamiltonian systems. Passivity-based sliding mode control (PBSMC) is unification of sliding mode control and passivity-based control. It achieves sliding mode control and Lyapunov stability simultaneously by employing an energy based Lyapunov function. The proposed method gives a family of stabilizing controllers which smoothly interpolates passivity-based control and sliding mode control with free parameters. The freedom is useful to adjust the trade-off between robustness against external disturbances and undesired chattering vibration. In addition, this paper relaxes the restrictive condition which is required in the authors' former result. As a result, we can apply the proposed PBSMC method to trajectory tracking control problems. Furthermore, the robustness of the proposed controller against matched and unmatched disturbances is investigated. Numerical examples demonstrate the effectiveness of the proposed method.