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

Din, Sami Ud and Khan, Qudrat and Rehman, Fazal-Ur and Akmeliawati, Rini (2017) A comparative experimental study of robust sliding mode control strategies for underactuated systems. IEEE Access, 5. pp. 10068-10080. ISSN 2169-3536

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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

Item Type: Article (Journal)
Additional Information: 5806/57884
Uncontrolled Keywords: Electromechanical system, sliding mode control, Lyapunov method, robust control, nonlinear systems.
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Prof. Dr. Rini Akmeliawati
Date Deposited: 08 Aug 2017 11:56
Last Modified: 14 Feb 2019 15:23
URI: http://irep.iium.edu.my/id/eprint/57884

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