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Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

Author

Listed:
  • Thaned Rojsiraphisal

    (Advanced Research Center for Computational Simulation, Department of Mathematics, Faculty of Science, Chiang Mai University, Chiang Mai 50200, Thailand)

  • Saleh Mobayen

    (Future Technology Research Center, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin 64002, Taiwan)

  • Jihad H. Asad

    (Department of Physics, Faculty of Applied Sciences, Palestine Technical University, Tulkarm P.O. Box 7, Palestine)

  • Mai The Vu

    (School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea)

  • Arthur Chang

    (Bachelor Program in Interdisciplinary Studies, National Yunlin University of Science and Technology, Yunlin 64002, Taiwan)

  • Jirapong Puangmalai

    (Department of Mathematics, Faculty of Education, Kamphaeng Phet Rajabhat University, Kamphaeng Phet 62000, Thailand)

Abstract

In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the exterior disturbances of the system and develop the finite time control law. The proposed controller can regulate the state trajectories of the underactuated systems to the origin within a finite time in the existence of external disturbances. The stability analysis of the proposed control scheme is verified via the Lyapunov stabilization theory. The designed control law is enough to drive a switching surface achieving the fast terminal sliding mode against severe model nonlinearities with large parametric uncertainties and external disturbances. Illustrative simulation results and experimental validations on a cart-inverted pendulum system are provided to display the success and efficacy of the offered method.

Suggested Citation

  • 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.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:16:p:1935-:d:614050
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    References listed on IDEAS

    as
    1. Thanasak Mouktonglang & Phannipa Worapun, 2019. "A Comparison of Robust Criteria for Vehicle Routing Problem with Soft Time Windows," International Journal of Mathematics and Mathematical Sciences, Hindawi, vol. 2019, pages 1-7, October.
    2. Hao Li & Lihua Dou & Zhong Su, 2013. "Adaptive nonsingular fast terminal sliding mode control for electromechanical actuator," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(3), pages 401-415.
    3. 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.
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    Cited by:

    1. Hammad Alnuman & Kuo-Hsien Hsia & Mohammadreza Askari Sepestanaki & Emad M. Ahmed & Saleh Mobayen & Ammar Armghan, 2023. "Design of Continuous Finite-Time Controller Based on Adaptive Tuning Approach for Disturbed Boost Converters," Mathematics, MDPI, vol. 11(7), pages 1-23, April.
    2. Mai-The Vu & Kuo-Hsien Hsia & Fayez F. M. El-Sousy & Thaned Rojsiraphisal & Reza Rahmani & Saleh Mobayen, 2022. "Adaptive Fuzzy Control of a Cable-Driven Parallel Robot," Mathematics, MDPI, vol. 10(20), pages 1-16, October.
    3. Zahra Mokhtare & Mai The Vu & Saleh Mobayen & Thaned Rojsiraphisal, 2022. "An Adaptive Barrier Function Terminal Sliding Mode Controller for Partial Seizure Disease Based on the Pinsky–Rinzel Mathematical Model," Mathematics, MDPI, vol. 10(16), pages 1-13, August.

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