Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with uncertainties

Abstract

This study proposes a gained switching-based discrete-time sliding mode control method to address the chattering issue in disturbed discrete-time systems, which suffer from various unknown uncertainties. Through the new structure of the designed reaching law, the proposed method can effectively increase the convergence speed while guaranteeing chattering-free control. The performance of controlling underactuated robotic systems can be further improved by the adoption of fuzzy logic to perform adaptive online hyper-parameter tuning. In addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness of the proposed reaching law. Results reveal the dynamic performance and robustness of the proposed reaching law in the studied system and prove the proposed method’s superiority over other state-of-the-art methods.

Key words： sliding-mode control; robot control; discrete-time uncertain systems; fuzzy logic

Acknowledgements

This research was funded by the Key Research and Development Program of Shanxi Province of China (Grant Nos. 201803D421027 and 201903D421051).

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