A comparative experimental study of robust sliding mode control strategies for underactuated systems

This paper presents a comprehensive comparative study for the tracking control of a class of underactuated nonlinear uncertain systems. A given nonlinear model of the underactuated system is, at first stage, transformed into an input output form and the driving applied control input of the transfo...

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Main Authors:	Din, Sami Ud, Khan, Qudrat, Rehman, Fazal ur, Akmeliawati, Rini
Format:	Article
Language:	English English English
Published:	Institute of Electrical and Electronics Engineers Inc. 2018
Subjects:	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/70742/ http://irep.iium.edu.my/70742/ http://irep.iium.edu.my/70742/ http://irep.iium.edu.my/70742/1/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_article%20vol.%206.pdf http://irep.iium.edu.my/70742/2/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_scopus_vol.%206.pdf http://irep.iium.edu.my/70742/3/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_wos_vol.%206.pdf

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spelling	iium-707422019-07-12T08:55:50Z http://irep.iium.edu.my/70742/ A comparative experimental study of robust sliding mode control strategies for underactuated systems Din, Sami Ud Khan, Qudrat Rehman, Fazal ur Akmeliawati, Rini TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) TJ212 Control engineering This paper presents a comprehensive comparative study for the tracking control of a class of underactuated nonlinear uncertain systems. A given nonlinear model of the underactuated system is, at first stage, transformed into an input output form and the driving applied control input of the transformed system is then designed via four sliding mode control strategies, i.e., conventional first order sliding mode control, second order sliding mode, fast terminal sliding mode, and integral sliding mode. At second stage, a ball and beam system is considered and the aforementioned four control design strategies are experimentally implemented. A comprehensive comparative study of the simulation and experimental results is then conducted which take into account the tracking performance, i.e., settling time, overshoots, robustness enhancement, chattering reduction, sliding mode convergences, and control efforts. Institute of Electrical and Electronics Engineers Inc. 2018 Article PeerReviewed application/pdf en http://irep.iium.edu.my/70742/1/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_article%20vol.%206.pdf application/pdf en http://irep.iium.edu.my/70742/2/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_scopus_vol.%206.pdf application/pdf en http://irep.iium.edu.my/70742/3/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_wos_vol.%206.pdf Din, Sami Ud and Khan, Qudrat and Rehman, Fazal ur and Akmeliawati, Rini (2018) A comparative experimental study of robust sliding mode control strategies for underactuated systems. IEEE Access, 6. pp. 1927-1939. ISSN 2169-3536 https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8169028 10.1109/ACCESS.2017.2780889
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) TJ212 Control engineering
spellingShingle	TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) TJ212 Control engineering Din, Sami Ud Khan, Qudrat Rehman, Fazal ur Akmeliawati, Rini A comparative experimental study of robust sliding mode control strategies for underactuated systems
description	This paper presents a comprehensive comparative study for the tracking control of a class of underactuated nonlinear uncertain systems. A given nonlinear model of the underactuated system is, at first stage, transformed into an input output form and the driving applied control input of the transformed system is then designed via four sliding mode control strategies, i.e., conventional first order sliding mode control, second order sliding mode, fast terminal sliding mode, and integral sliding mode. At second stage, a ball and beam system is considered and the aforementioned four control design strategies are experimentally implemented. A comprehensive comparative study of the simulation and experimental results is then conducted which take into account the tracking performance, i.e., settling time, overshoots, robustness enhancement, chattering reduction, sliding mode convergences, and control efforts.
format	Article
author	Din, Sami Ud Khan, Qudrat Rehman, Fazal ur Akmeliawati, Rini
author_facet	Din, Sami Ud Khan, Qudrat Rehman, Fazal ur Akmeliawati, Rini
author_sort	Din, Sami Ud
title	A comparative experimental study of robust sliding mode control strategies for underactuated systems
title_short	A comparative experimental study of robust sliding mode control strategies for underactuated systems
title_full	A comparative experimental study of robust sliding mode control strategies for underactuated systems
title_fullStr	A comparative experimental study of robust sliding mode control strategies for underactuated systems
title_full_unstemmed	A comparative experimental study of robust sliding mode control strategies for underactuated systems
title_sort	comparative experimental study of robust sliding mode control strategies for underactuated systems
publisher	Institute of Electrical and Electronics Engineers Inc.
publishDate	2018
url	http://irep.iium.edu.my/70742/ http://irep.iium.edu.my/70742/ http://irep.iium.edu.my/70742/ http://irep.iium.edu.my/70742/1/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_article%20vol.%206.pdf http://irep.iium.edu.my/70742/2/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_scopus_vol.%206.pdf http://irep.iium.edu.my/70742/3/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_wos_vol.%206.pdf
first_indexed	2023-09-18T21:40:25Z
last_indexed	2023-09-18T21:40:25Z
_version_	1777413102853160960

A comparative experimental study of robust sliding mode control strategies for underactuated systems

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