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...

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Main Authors:	ud Din, Sami, Khan, Qudrat, Rehman, Fazal ur, Akmeliawati, Rini
Format:	Article
Language:	English English English
Published:	Hindawi Publishing Corporation 2016
Subjects:	TJ212 Control engineering
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

id	iium-49717
recordtype	eprints
spelling	iium-497172017-10-20T07:38:02Z http://irep.iium.edu.my/49717/ Robust control of underactuated systems: higher order integral sliding mode approach ud Din, Sami Khan, Qudrat Rehman, Fazal ur Akmeliawati, Rini TJ212 Control engineering 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. Hindawi Publishing Corporation 2016 Article PeerReviewed application/pdf en http://irep.iium.edu.my/49717/1/5641478.pdf application/pdf en http://irep.iium.edu.my/49717/4/49717_Robust%20control%20of%20underactuated_SCOPUS_WOS.pdf application/pdf en http://irep.iium.edu.my/49717/9/49717_Robust%20Control%20of%20Underactuated%20Systems_wos.pdf ud Din, Sami and Khan, Qudrat and Rehman, Fazal ur and Akmeliawati, Rini (2016) Robust control of underactuated systems: higher order integral sliding mode approach. Mathematical Problems in Engineering, 2016. 5641478-1-5641478-11. ISSN 1024-123X E-ISSN 563-5147 http://www.hindawi.com/journals/mpe/2016/5641478/ 10.1155/2016/5641478
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering ud Din, Sami Khan, Qudrat Rehman, Fazal ur Akmeliawati, Rini Robust control of underactuated systems: higher order integral sliding mode approach
description	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.
format	Article
author	ud Din, Sami Khan, Qudrat Rehman, Fazal ur Akmeliawati, Rini
author_facet	ud Din, Sami Khan, Qudrat Rehman, Fazal ur Akmeliawati, Rini
author_sort	ud Din, Sami
title	Robust control of underactuated systems: higher order integral sliding mode approach
title_short	Robust control of underactuated systems: higher order integral sliding mode approach
title_full	Robust control of underactuated systems: higher order integral sliding mode approach
title_fullStr	Robust control of underactuated systems: higher order integral sliding mode approach
title_full_unstemmed	Robust control of underactuated systems: higher order integral sliding mode approach
title_sort	robust control of underactuated systems: higher order integral sliding mode approach
publisher	Hindawi Publishing Corporation
publishDate	2016
url	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
first_indexed	2023-09-18T21:10:15Z
last_indexed	2023-09-18T21:10:15Z
_version_	1777411204999806976

Robust control of underactuated systems: higher order integral sliding mode approach

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