A comparative experimental study of robust sliding mode control strategies for underactuated systems

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 transfor...

Full description

Bibliographic Details
Main Authors:	Din, Sami Ud, Khan, Qudrat, Rehman, Fazal-Ur, Akmeliawati, Rini
Format:	Article
Language:	English English
Published:	Institute of Electrical and Electronics Engineers Inc. 2017
Subjects:	TJ212 Control engineering
Online Access:	http://irep.iium.edu.my/57884/ http://irep.iium.edu.my/57884/ http://irep.iium.edu.my/57884/ http://irep.iium.edu.my/57884/1/57884_A%20Comparative%20Experimental%20Study%20of%20Robust%20Sliding_scopus_vol.5.pdf http://irep.iium.edu.my/57884/2/57884_A%20Comparative%20Experimental%20Study%20of%20Robust%20Sliding_scopus_new_vol.5.pdf

id	iium-57884
recordtype	eprints
spelling	iium-578842019-02-14T07:23:14Z http://irep.iium.edu.my/57884/ A comparative experimental study of robust sliding mode control strategies for underactuated systems Din, Sami Ud Khan, Qudrat Rehman, Fazal-Ur Akmeliawati, Rini TJ212 Control engineering 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 Institute of Electrical and Electronics Engineers Inc. 2017 Article PeerReviewed application/pdf en http://irep.iium.edu.my/57884/1/57884_A%20Comparative%20Experimental%20Study%20of%20Robust%20Sliding_scopus_vol.5.pdf application/pdf en http://irep.iium.edu.my/57884/2/57884_A%20Comparative%20Experimental%20Study%20of%20Robust%20Sliding_scopus_new_vol.5.pdf Din, Sami Ud and Khan, Qudrat and Rehman, Fazal-Ur and Akmeliawati, Rini (2017) A comparative experimental study of robust sliding mode control strategies for underactuated systems. IEEE Access, 5. pp. 10068-10080. ISSN 2169-3536 http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7938613&tag=1 10.1109/ACCESS.2017.2712261
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TJ212 Control engineering
spellingShingle	TJ212 Control engineering Din, Sami Ud Khan, Qudrat Rehman, Fazal-Ur Akmeliawati, Rini A comparative experimental study of robust sliding mode control strategies for underactuated systems
description	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
format	Article
author	Din, Sami Ud Khan, Qudrat Rehman, Fazal-Ur Akmeliawati, Rini
author_facet	Din, Sami Ud Khan, Qudrat Rehman, Fazal-Ur Akmeliawati, Rini
author_sort	Din, Sami Ud
title	A comparative experimental study of robust sliding mode control strategies for underactuated systems
title_short	A comparative experimental study of robust sliding mode control strategies for underactuated systems
title_full	A comparative experimental study of robust sliding mode control strategies for underactuated systems
title_fullStr	A comparative experimental study of robust sliding mode control strategies for underactuated systems
title_full_unstemmed	A comparative experimental study of robust sliding mode control strategies for underactuated systems
title_sort	comparative experimental study of robust sliding mode control strategies for underactuated systems
publisher	Institute of Electrical and Electronics Engineers Inc.
publishDate	2017
url	http://irep.iium.edu.my/57884/ http://irep.iium.edu.my/57884/ http://irep.iium.edu.my/57884/ http://irep.iium.edu.my/57884/1/57884_A%20Comparative%20Experimental%20Study%20of%20Robust%20Sliding_scopus_vol.5.pdf http://irep.iium.edu.my/57884/2/57884_A%20Comparative%20Experimental%20Study%20of%20Robust%20Sliding_scopus_new_vol.5.pdf
first_indexed	2023-09-18T21:21:50Z
last_indexed	2023-09-18T21:21:50Z
_version_	1777411933471768576

A comparative experimental study of robust sliding mode control strategies for underactuated systems

Similar Items