Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach
Joint Authors
Khan, Qudrat
ud Din, Sami
Rehman, Fazal ur
Akmeliawati, Rini
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-02-16
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
ud Din, Sami& Khan, Qudrat& Rehman, Fazal ur& Akmeliawati, Rini. 2016. Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1112338
Modern Language Association (MLA)
ud Din, Sami…[et al.]. Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach. Mathematical Problems in Engineering No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1112338
American Medical Association (AMA)
ud Din, Sami& Khan, Qudrat& Rehman, Fazal ur& Akmeliawati, Rini. Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1112338
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112338