Open AccessADAPTIVE WAVELETS SLIDING MODE CONTROL FOR A CLASS OF SECOND ORDER UNDERACTUATED MECHANICAL SYSTEMS
Author(s) -
Fares Nafa,
Aimad Boudouda,
Billel Smaani
Publication year - 2021
Publication title -
acta polytechnica
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.207
H-Index - 15
eISSN - 1805-2363
pISSN - 1210-2709
DOI - 10.14311/ap.2021.61.0350
Subject(s) - control theory (sociology) , sliding mode control , underactuation , controller (irrigation) , computer science , wavelet , nonlinear system , convergence (economics) , gradient descent , adaptive control , mode (computer interface) , artificial neural network , control engineering , control (management) , artificial intelligence , engineering , biology , economic growth , operating system , physics , quantum mechanics , agronomy , economics
The control of underactuated mechanical systems (UMS) remains an attracting field where researchers can develop their control algorithms. To this date, various linear and nonlinear control techniques using classical and intelligent methods have been published in literature. In this work, an adaptive controller using sliding mode control (SMC) and wavelets network (WN) is proposed for a class of second-order UMS with two degrees of freedom (DOF).This adaptive control strategy takes advantage of both sliding mode control and wavelet properties. In the main result, we consider the case of un-modeled dynamics of the above-mentioned UMS, and we introduce a wavelets network to design an adaptive controller based on the SMC. The update algorithms are directly extracted by using the gradient descent method and conditions are then settled to achieve the required convergence performance.The efficacy of the proposed adaptive approach is demonstrated through an application to the pendubot.