A Comparative Experimental Study of Robust Sliding Mode Control Strategies for Underactuated Systems | Zendy

Sami Ud Din | Zendy; Qudrat Khan | Zendy; Fazal-Ur Rehman | Zendy; Rini Akmeliawanti | Zendy

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A Comparative Experimental Study of Robust Sliding Mode Control Strategies for Underactuated Systems

Author(s) -

Sami Ud Din,

Qudrat Khan,

Fazal-Ur Rehman,

Rini Akmeliawanti

Publication year - 2017

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2017.2712261

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

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 (SMC), second-order SMC, fast terminal SMC, and integral SMC. At the 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.

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