Second-order sliding mode approaches for the control of a class of underactuated systems

Mahjoub, Sonia; Mnif, F.; Derbel, Nabil

doi:10.1007/s11633-015-0880-3

Cited by 31 publications

(17 citation statements)

References 15 publications

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“…From the equation (23), for |s (t)| > ε, sat (s (t)) = sgn (s (t)). However, in a small εvicinity of the origin, the so-called boundary layer, sat (s (t)) = sgn (s (t)) is continuous.…”

Section: Integral Sliding Mode Control Designmentioning

confidence: 99%

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Performances comparison between ultra-local model control, integral sliding mode control and PID control for a coupled tanks system

Thabet

Ayadi

Rotella

2018

IJMIC

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This paper deals with the comparison of robust control approaches for the level water control of coupled tanks system. A new ultra-local model control (ULMC) approach leading to adaptive controller is proposed. The parameter identification of the ultra-local model is based on the algebraic derivation techniques. The main advantages of this control strategy are its simplicity and robustness. A comparison study with the integral sliding mode control (ISMC) approach is carried out. The perfect knowledge of the output variable degree, which is a standard assumption for sliding modes, is assumed here. The comparison of the simulation results for the proposed adaptive controller with the ISMC controller and the classical PID controller has a better performances in the presence of external perturbations and parameter uncertainties.

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“…From the equation (23), for |s (t)| > ε, sat (s (t)) = sgn (s (t)). However, in a small εvicinity of the origin, the so-called boundary layer, sat (s (t)) = sgn (s (t)) is continuous.…”

Section: Integral Sliding Mode Control Designmentioning

confidence: 99%

“…We mention that the sliding mode controllers had led to a huge number of exciting applications involving real systems as in (20), (23), (24), (40). The main drawback of sliding mode control is the chattering effect which can excite undesirable high frequency dynamics.…”

Section: Introductionmentioning

confidence: 99%

Performances comparison between ultra-local model control, integral sliding mode control and PID control for a coupled tanks system

Thabet

Ayadi

Rotella

2018

IJMIC

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“…It has two equilibrium points; one being stable while other is unstable [7].Various control strategies can be found in literature to stabilize the pendulum around unstable equilibrium point [8]Researchers have analysed PID based control [9], neural network control [11],fuzzy control [12], optimisation tools like linear quadratic regulator [10,13].Sliding mode control has emerged as promising method for control of inverted pendulum. [15][16][17] The sliding mode is a special type of variable structure control technique [18]. Its distinct robustness and accuracy negates both intrinsic and extrinsic disturbances.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm

Sharma¹,

Bhushan²

2018

IJCA

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This paper presents a decoupling algorithm of sliding mode control on inverted pendulum. The decoupled method provides a simple way to achieve asymptotic stability for a nth-order nonlinear systems. The system dynamics of SMC and inverted pendulum systems are encapsulated in the algorithm form and analysed by MATLAB Simulations. The convergence of the proposed sliding mode control is verified by Lyapunov function to prove the stability of system. Numerical simulations of designed SMC control strategy for inverted pendulum demonstrate faster convergence, reduced disturbance in control input and overall robust performance.

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“…Inspired by its advantages, such as strong robustness and insensitivity, sliding mode control (SMC) has been applied to control underactuated systems extensively and references . Conventional SMC systems adopt linear sliding mode (LSM) and terminal sliding mode (TSM) surfaces based controllers.…”

Section: Introductionmentioning

confidence: 99%

FTESO‐Based Finite Time Control for Underactuated System Within a Bounded Input

Wang¹,

Zhou²,

Chen³

et al. 2017

Asian Journal of Control

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Finite time control problem is investigated for a class of underactuated systems with uncertainties and external disturbances. For the sake of expanding control region furthest within a bound input, finite time extended state observer (FTESO) and a novel adaptive terminal sliding mode (ATSM) controller are applied to improve the stability performance of system. Compared to the general extended state observer (ESO), FTESO makes use of fractional powers to reduce the estimation errors to zero in finite time. The coordinate transformation is made for more degrees of design freedom. Rigorous analysis of finite time convergence results has been performed through Lyapunov theory and sufficient conditions are provided for the observer/controller-design. Finally, simulation results on the Rotating Inverted Pendulum are given to demonstrate the effectiveness of the proposed controller and observer.

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Second-order sliding mode approaches for the control of a class of underactuated systems

Cited by 31 publications

References 15 publications

Performances comparison between ultra-local model control, integral sliding mode control and PID control for a coupled tanks system

Performances comparison between ultra-local model control, integral sliding mode control and PID control for a coupled tanks system

Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm

FTESO‐Based Finite Time Control for Underactuated System Within a Bounded Input

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