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

IEEE Access

Qudrat Khan¹  Sami Ud Din²  Fazal-Ur Rehman²  Rini Akmeliawanti³ 

[1] Center for Advanced Studies in Telecommunications, COMSATS Institute of Information Technology, Islamabad, Pakistan;Department of Electrical Engineering, Capital University of Science and Technology, Islamabad, Pakistan;Department of Mechatronics Engineering, International Islamic University, Kuala Lumpur, Malaysia;

关键词: Electromechanical system;    sliding mode control;    Lyapunov method;    robust control;    nonlinear systems;   

DOI  :  10.1109/ACCESS.2017.2712261

来源: DOAJ

【 摘 要 】

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 (SMC), second-order SMC, fast terminal SMC, and integral SMC. At the 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.

【 授权许可】

Unknown