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, an advanced sliding mode control (ASMC) with integral sliding function is proposed for the pendubot system which is a planar two degree of freedom (2- DOF) robotic arm in the vertical plane with an actuator at the shoulder, but no actuator at the elbow. Using MATLAB/SIMULINK environment, the pendubot dynamics is implemented and the proposed ASMC control is applied for swing-up and balancing tasks the pendubot as to well follow with various trajectories. Simulation results demonstrate the performance and effectiveness of the proposed ASMC control in comparison with conventional sliding mode control applied in swing-up and balancing scheme of the pendubot system. Keywords-pendubot; advanced sliding mode control; swing up; balancing scheme

Swing Up and Balancing Implementation for the Pendubot Using Advanced Sliding Mode Control