Sliding Mode Control with Gaussian Process Regression for Underactuated Mechanical Systems

Authors

Keywords:

Gaussian process regression, Intelligent control, Inverted pendulum, Sliding modes, Underactuated systems

Abstract

This work introduces a new control scheme for uncertain underactuated mechanical systems. The proposed approach is mainly based on sliding mode control, but a Gaussian process regressor is also embedded in the control law for uncertainty estimation and compensation. The convergence properties of the closed-loop signals are analytically proved by means of the Lyapunov stability theory. Numerical simulations with an inverted pendulum on a cart are presented to confirm the improved performance of the proposed control scheme.

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Author Biographies

Gabriel da Silva Lima, Federal University of Rio Grande do Norte

Gabriel S. Lima received the B.Sc. degree in science and technology, in 2015, the B.Sc. degree in mechanical engineering, in 2017, and the master’s degree in mechanical engineering, in 2019, from the Federal University of Rio Grande do Norte, Natal, Brazil. He is currently a PhD researcher at the Federal University of Rio Grande do Norte with interest in intelligent control, robotics, nonlinear control, artificial neural networks, Gaussian process, and reinforcement learning.

Wallace Moreira Bessa, University of Turku

Wallace M. Bessa is an Associate Professor of Mechanical Engineering at the University of Turku, Finland. He also serves as Associate Editor of the Journal of the Brazilian Society of Mechanical Sciences and Engineering (Springer) and as Member of the Committee for Dynamics of the Brazilian Society of Mechanical Sciences and Engineering (ABCM). Before taking up his position at the University of Turku, he was Associate Professor at the Federal University of Rio Grande do Norte, Brazil (2008-2021) and Assistant Professor at the Federal Center for Technological Education, Brazil (2004-2008). In 2014, he was awarded the prestigious Humboldt Research Fellowship for Experienced Researchers, which allowed him to be a visiting professor at the Hamburg University of Technology, Germany, from August 2015 to July 2017. He has more than 100 scientific publications on topics such as intelligent control, nonlinear systems, robotics and mechatronics.

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Published

2022-02-15

How to Cite

da Silva Lima, G., & Moreira Bessa, W. (2022). Sliding Mode Control with Gaussian Process Regression for Underactuated Mechanical Systems. IEEE Latin America Transactions, 20(6), 963–969. Retrieved from https://latamt.ieeer9.org/index.php/transactions/article/view/6004

Issue

Vol. 20 No. 6 (2022): Ordinary Issue

Section

Articles