Robust control of underactuated systems: higher order integral sliding mode approach
This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. Either the nonlinearmodel of the underactuated systems is transformed into an input output formand then an integral manifold is devised for the control design purpose or an integral manifold is...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English English English |
| Published: |
Hindawi Publishing Corporation
2016
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/49717/ http://irep.iium.edu.my/49717/ http://irep.iium.edu.my/49717/ http://irep.iium.edu.my/49717/1/5641478.pdf http://irep.iium.edu.my/49717/4/49717_Robust%20control%20of%20underactuated_SCOPUS_WOS.pdf http://irep.iium.edu.my/49717/9/49717_Robust%20Control%20of%20Underactuated%20Systems_wos.pdf |
| Summary: | This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. Either the nonlinearmodel of
the underactuated systems is transformed into an input output formand then an integral manifold is devised for the control design
purpose or an integral manifold is defined directly for the concerned class. Having defined the integral manifolds discontinuous
control laws are designed which are capable ofmaintaining slidingmode fromthe very beginning. The closed loop stability of these
systems is presented in an impressive way. The effectiveness and demand of the designed control laws are verified via the simulation
and experimental results of ball and beam system. |
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