Robust stabilization of underactuated systems via fast terminal sliding mode

Khan, Qudrat and Bhatti, Aamer Iqbal and Akmeliawati, Rini (2015) Robust stabilization of underactuated systems via fast terminal sliding mode. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May- 3rd June 2015, Kota Kinabalu, Sabah.

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Abstract

This paper presents a fast terminal sliding mode control strategy for a class of underactuated systems. Strategically, this development encompasses those electro mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of this article lies in the hierarchical development of a fast terminal sliding manifold design for the considered class. Having established sliding mode against the designed manifold, the close loop dynamics becomes finite time stable which results in high precession. In addition, the adverse effects of chattering phenomenon are eliminated and the robustness of the system against uncertainties is confirmed theoretically in a couple of theorems. A comprehensive numerical example of the cart pendulum is presented to verify the claims for the considered class.

Item Type:	Conference or Workshop Item (UNSPECIFIED)
Additional Information:	5806/44862
Uncontrolled Keywords:	underactuated systems, terminal sliding manifold, inverted pendulum
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:	02 Oct 2015 15:17
Last Modified:	05 Mar 2018 16:00
URI:	http://irep.iium.edu.my/id/eprint/44862

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