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

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

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Abstract

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.

Item Type: Article (Journal)
Additional Information: 5806/49717
Uncontrolled Keywords: Non-linear systems, mechanical systems
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Prof. Dr. Rini Akmeliawati
Date Deposited: 31 Mar 2016 10:37
Last Modified: 20 Oct 2017 15:38
URI: http://irep.iium.edu.my/id/eprint/49717

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