scholarly journals Second-order sliding mode control of underactuated mechanical systems I: Local stabilization with application to an inverted pendulum

2008 ◽  
Vol 18 (4-5) ◽  
pp. 529-543 ◽  
Author(s):  
Samer Riachy ◽  
Yuri Orlov ◽  
Thierry Floquet ◽  
Raul Santiesteban ◽  
Jean-Pierre Richard
Keyword(s):  
Sliding Mode Control ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Second Order ◽  
Underactuated Mechanical Systems ◽  
Mode Control ◽  
Second Order Sliding Mode

A survey of applications of second-order sliding mode control to mechanical systems

2003 ◽  
Vol 76 (9-10) ◽  
pp. 875-892 ◽  
Author(s):  
Giorgio Bartolini ◽  
Alessandro Pisano ◽  
Elisabetta Punta ◽  
Elio Usai
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Second Order ◽  
Mode Control ◽  
Second Order Sliding Mode

scholarly journals ADAPTIVE WAVELETS SLIDING MODE CONTROL FOR A CLASS OF SECOND ORDER UNDERACTUATED MECHANICAL SYSTEMS

2021 ◽  
Vol 61 (2) ◽  
pp. 350-363
Author(s):  
Fares Nafa ◽  
Aimad Boudouda ◽  
Billel Smaani
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Adaptive Controller ◽  
Descent Method ◽  
Second Order ◽  
Gradient Descent Method ◽  
Underactuated Mechanical Systems ◽  
Mode Control

The control of underactuated mechanical systems (UMS) remains an attracting field where researchers can develop their control algorithms. To this date, various linear and nonlinear control techniques using classical and intelligent methods have been published in literature. In this work, an adaptive controller using sliding mode control (SMC) and wavelets network (WN) is proposed for a class of second-order UMS with two degrees of freedom (DOF).This adaptive control strategy takes advantage of both sliding mode control and wavelet properties. In the main result, we consider the case of un-modeled dynamics of the above-mentioned UMS, and we introduce a wavelets network to design an adaptive controller based on the SMC. The update algorithms are directly extracted by using the gradient descent method and conditions are then settled to achieve the required convergence performance.The efficacy of the proposed adaptive approach is demonstrated through an application to the pendubot.

Sign in / Sign up

Export Citation Format

Share Document