Robust stabilization of underactuated systems via fast terminal sliding mode

This paper presents a fast terminal sliding mode control strategy for a class of underactuated systems. Strategically, this development encompasses those electro mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of this article lies in the hierarc...

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Main Authors:	Khan, Qudrat, Bhatti, Aamer Iqbal, Akmeliawati, Rini
Format:	Conference or Workshop Item
Language:	English
Published:	2015
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/44862/ http://irep.iium.edu.my/44862/ http://irep.iium.edu.my/44862/ http://irep.iium.edu.my/44862/1/ASCC2015_qudrat.pdf

id	iium-44862
recordtype	eprints
spelling	iium-448622018-03-05T08:00:08Z http://irep.iium.edu.my/44862/ Robust stabilization of underactuated systems via fast terminal sliding mode Khan, Qudrat Bhatti, Aamer Iqbal Akmeliawati, Rini TJ212 Control engineering This paper presents a fast terminal sliding mode control strategy for a class of underactuated systems. Strategically, this development encompasses those electro mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of this article lies in the hierarchical development of a fast terminal sliding manifold design for the considered class. Having established sliding mode against the designed manifold, the close loop dynamics becomes finite time stable which results in high precession. In addition, the adverse effects of chattering phenomenon are eliminated and the robustness of the system against uncertainties is confirmed theoretically in a couple of theorems. A comprehensive numerical example of the cart pendulum is presented to verify the claims for the considered class. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/44862/1/ASCC2015_qudrat.pdf Khan, Qudrat and Bhatti, Aamer Iqbal and Akmeliawati, Rini (2015) Robust stabilization of underactuated systems via fast terminal sliding mode. In: 2015 10th Asian Control Conference (ASCC 2015), 31st May- 3rd June 2015, Kota Kinabalu, Sabah. http://dx.doi.org/10.1109/ASCC.2015.7244520 doi:10.1109/ASCC.2015.7244520
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Khan, Qudrat Bhatti, Aamer Iqbal Akmeliawati, Rini Robust stabilization of underactuated systems via fast terminal sliding mode
description	This paper presents a fast terminal sliding mode control strategy for a class of underactuated systems. Strategically, this development encompasses those electro mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of this article lies in the hierarchical development of a fast terminal sliding manifold design for the considered class. Having established sliding mode against the designed manifold, the close loop dynamics becomes finite time stable which results in high precession. In addition, the adverse effects of chattering phenomenon are eliminated and the robustness of the system against uncertainties is confirmed theoretically in a couple of theorems. A comprehensive numerical example of the cart pendulum is presented to verify the claims for the considered class.
format	Conference or Workshop Item
author	Khan, Qudrat Bhatti, Aamer Iqbal Akmeliawati, Rini
author_facet	Khan, Qudrat Bhatti, Aamer Iqbal Akmeliawati, Rini
author_sort	Khan, Qudrat
title	Robust stabilization of underactuated systems via fast terminal sliding mode
title_short	Robust stabilization of underactuated systems via fast terminal sliding mode
title_full	Robust stabilization of underactuated systems via fast terminal sliding mode
title_fullStr	Robust stabilization of underactuated systems via fast terminal sliding mode
title_full_unstemmed	Robust stabilization of underactuated systems via fast terminal sliding mode
title_sort	robust stabilization of underactuated systems via fast terminal sliding mode
publishDate	2015
url	http://irep.iium.edu.my/44862/ http://irep.iium.edu.my/44862/ http://irep.iium.edu.my/44862/ http://irep.iium.edu.my/44862/1/ASCC2015_qudrat.pdf
first_indexed	2023-09-18T21:03:48Z
last_indexed	2023-09-18T21:03:48Z
_version_	1777410798305411072

Robust stabilization of underactuated systems via fast terminal sliding mode

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