Dynamic output feedback sliding mode control for uncertain mechanical systems without velocity measurements.

Area of Science:

• Control Systems Engineering
• Robotics
• Mechanical Engineering

Background:

• MIMO mechanical systems often face challenges with uncertainties and external disturbances.
• Position measurements alone can limit control design possibilities.
• Robust control is crucial for reliable system performance in dynamic environments.

Purpose of the Study:

• To develop a dynamic output feedback sliding mode control algorithm for MIMO mechanical systems using only position measurements.
• To address mismatched uncertainties and external disturbances effectively.
• To ensure robust stabilization and disturbance attenuation.

Main Methods:

• Introduction of additional dynamics into the sliding surface design.
• Utilization of H-infinity control analytical techniques for disturbance attenuation.
• Design of a finite-time controller to achieve and maintain the sliding mode.

Main Results:

• The proposed algorithm guarantees robust stabilization for MIMO mechanical systems.
• The method achieves disturbance attenuation despite mismatched uncertainties.
• The controller ensures the system reaches and stays on the sliding surface in finite time.

Conclusions:

• The dynamic output feedback sliding mode control scheme is effective for robust stabilization of MIMO mechanical systems.
• The approach successfully handles uncertainties and disturbances using position measurements.
• A numerical example validates the practical applicability of the proposed control strategy.