Smooth Higher-Order Sliding Mode Control of a Class of Underactuated Mechanical Systems

2017 ◽  
Vol 42 (12) ◽  
pp. 5147-5164 ◽  
Author(s):  
Ibrahim Shah ◽  
Fazal ur Rehman
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Higher Order ◽  
Underactuated Mechanical Systems ◽  
Mode Control

scholarly journals Sliding mode control design for stabilization of underactuated mechanical systems

2019 ◽  
Vol 11 (5) ◽  
pp. 168781401984271
Author(s):  
Muhammad Idrees ◽  
Saif Ullah ◽  
Shah Muhammad
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Control Design ◽  
Underactuated Mechanical Systems ◽  
Mode Control

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.

Adaptive sliding mode control for asymptotic stabilization of underactuated mechanical systems via higher-order nonlinear disturbance observer

2019 ◽  
Vol 25 (17) ◽  
pp. 2340-2350 ◽  
Author(s):  
Kakoli Majumder ◽  
B. M. Patre
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Mechanical Systems ◽  
Higher Order ◽  
Adaptive Sliding Mode Control ◽  
Control Input ◽  
Underactuated Mechanical Systems ◽  
Nonlinear Disturbance Observer ◽  
Nonlinear Disturbance

The development of a nonlinear controller of stabilization of underactuated mechanical systems (UMSs) is a challenging endeavor due to a larger number of output variables to be controlled than the control input space. This paper proposes an adaptive sliding mode control based on a higher-order nonlinear disturbance observer (HONDO) for stabilizing the rotational pendulum (RP) system falling under the class of UMSs. Firstly, the HONDO is designed in such a way that it can improve accuracy in estimations with its incremental order. As a result, the proposed controller obtained from the sliding surface which is developed with system’s states and estimations, forces the states attaining the sliding mode and hence keeps them to their origin forever against disturbances. To achieve this, the sliding coefficients are obtained using inertia matrix of the system. The zero dynamics is stabilized by the proposed controller. This alleviates the chattering problem in the control input. Finally, numerical performance on the underactuated RP model is analyzed to show the efficiency of the proposed controller and it is compared with the established control technique found in the literature.

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