Performance Evaluation of Sliding Mode Control for Underactuated Systems Based on Decoupling Algorithm

2021 ◽  
pp. 75-87
Author(s):  
Ajit Kumar Sharma ◽  
Bharat Bhushan
Keyword(s):  
Performance Evaluation ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Underactuated Systems ◽  
Mode Control ◽  
Decoupling Algorithm

Robust sliding mode control for a class of underactuated systems with mismatched uncertainties

2009 ◽  
Vol 223 (6) ◽  
pp. 785-795 ◽  
Author(s):  
D W Qian ◽  
X J Liu ◽  
J Q Yi
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
Underactuated Systems ◽  
Sliding Surface ◽  
Nominal System ◽  
Sliding Surfaces ◽  
Mode Control ◽  
Mismatched Uncertainties

Based on the sliding mode control methodology, this paper presents a robust control strategy for underactuated systems with mismatched uncertainties. The system consists of a nominal system and the mismatched uncertainties. Since the nominal system can be considered to be made up of several subsystems, a hierarchical structure for the sliding surfaces is designed. This is achieved by taking the sliding surface of one of the subsystems as the first-layer sliding surface and using this sliding surface and the sliding surface of another subsystem to construct the second-layer sliding surface. This process continues till the sliding surfaces of all the subsystems are included. A lumped sliding mode compensator is designed at the last-layer sliding surface. The asymptotic stability of all of the layer sliding surfaces and the sliding surface of each subsystem is proven. Simulation results show the validity of this robust control method through stabilization control of a system consisting of two inverted pendulums and mismatched uncertainties.

Adaptive global sliding mode control of underactuated systems using a super-twisting scheme: an experimental study

2019 ◽  
Vol 25 (16) ◽  
pp. 2215-2224 ◽  
Author(s):  
Saleh Mobayen
Keyword(s):  
Experimental Study ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Underactuated Systems ◽  
Control Law ◽  
Pendulum System ◽  
Mode Control ◽  
Inverted Pendulum System ◽  
Global Sliding Mode Control ◽  
Twisting Algorithm

The control problem of underactuated systems with external perturbations is investigating in this paper. Using the super-twisting-based global sliding mode control (GSMC) method, an original control law is proposed to guarantee removal of the reaching mode and obtain the robustness and exponential stability of the underactuated systems. Via the offered scheme, a robust control law is designed so that the state trajectories of the underactuated systems are convergent to the global sliding surface in an exponential manner. Moreover, this article develops an adaptive super-twisting algorithm for these systems. The adaptive-tuning controller eliminates the need of the knowledge about upper bound of the exterior disturbance. The discontinuous sign function appears in the controller derivative; as a result, the actual control signal reached after integration is continuous and free of chattering. Demonstrative simulations on a cart–inverted pendulum system as well as an experimental study are presented to show the effectiveness and applicability of the proposed technique.

scholarly journals A Comparative Experimental Study of Robust Sliding Mode Control Strategies for Underactuated Systems

IEEE Access ◽  
2017 ◽  
Vol 5 ◽  
pp. 10068-10080 ◽  
Author(s):  
Sami Ud Din ◽  
Qudrat Khan ◽  
Fazal-Ur Rehman ◽  
Rini Akmeliawanti
Keyword(s):  
Experimental Study ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Strategies ◽  
Underactuated Systems ◽  
Mode Control
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