A Novel Switching Control Scheme for a Class of Underactuated Mechanical Systems

Abstract

In this paper, we present a control law for a class of second order underactuated mechanical systems via a novel switching adaptive scheme. Exploiting the properties of underactuated mechanical systems and the advantages of sliding mode control method, the novel proposed strategy is based on an adaptive switching algorithm to reach the convergence performance for all outputs of the whole system. Based on Lyapunov stability theory, proofs and conditions are then given to ensure the global stability of all states of the system. Relevant application to an Overhead Crane and simulation results show the applicability of the proposed control algorithm