English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

In this paper is proposed a control structure for a class of mechanical systems; this structure consists of a continuous controller based on nonsingular terminal sliding mode control plus uncertainty and disturbance estimator. Closed-loop stability is proved by designing an adequate sliding surface and showing the existence of sliding modes by the fulfillment of the reaching law. A controllers comparison using the nonsingular terminal sliding mode, first-order sliding mode, PID, and the proposed control structure is carried out through numerical simulations of a pendulum system, where the l<sub>2</sub> index is used to measure the performance of the controllers. Moreover, real-time experiments are performed in a mechanical system with a pneumatic actuator. The theoretical, numerical, and experimental results validate the feasibility, performance, and robustness of the proposed control structure.

Robust Continuous Control for a Class of Mechanical Systems Based on Nonsingular Terminal Sliding Mode