Control of a Class of Underactuated Mechanical Systems Using Sliding Modes

  title={Control of a Class of Underactuated Mechanical Systems Using Sliding Modes},
  author={Velupillai Sankaranarayanan and Arun D. Mahindrakar},
  journal={IEEE Transactions on Robotics},
In this paper, we present a sliding mode control algorithm to robustly stabilize a class of underactuated mechanical systems that are not linearly controllable and violate Brockett's necessary condition for smooth asymptotic stabilization of the equilibrium, with parametric uncertainties. In defining the class of systems, a few simplifying assumptions are made on the structure of the dynamics; in particular, the damping forces are assumed to be linear in velocities. We first propose a switching… CONTINUE READING
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