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 (2018) A comparative experimental study of robust sliding mode control strategies for underactuated systems. IEEE Access, 6. pp. 1927-1939. ISSN 2169-3536

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Abstract

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.

Item Type:	Article (Journal)
Additional Information:	5806/70742
Uncontrolled Keywords:	Electromechanical system, sliding mode control, Lyapunov method, robust control,nonlinear systems.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General) 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 Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Prof. Dr. Rini Akmeliawati
Date Deposited:	14 Feb 2019 15:50
Last Modified:	12 Jul 2019 16:55
URI:	http://irep.iium.edu.my/id/eprint/70742

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