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Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach

Author

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  • Sami ud Din
  • Qudrat Khan
  • Fazal ur Rehman
  • Rini Akmeliawati

Abstract

This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. Either the nonlinear model of the underactuated systems is transformed into an input output form and 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 of maintaining sliding mode from the 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.

Suggested Citation

  • Sami ud Din & Qudrat Khan & Fazal ur Rehman & Rini Akmeliawati, 2016. "Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach," Mathematical Problems in Engineering, Hindawi, vol. 2016, pages 1-11, February.
    • Handle: RePEc:hin:jnlmpe:5641478
    DOI: 10.1155/2016/5641478
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    Cited by:

    1. Thaned Rojsiraphisal & Saleh Mobayen & Jihad H. Asad & Mai The Vu & Arthur Chang & Jirapong Puangmalai, 2021. "Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation," Mathematics, MDPI, vol. 9(16), pages 1-17, August.

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