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Robust stabilization of underactuated nonlinear systems: a fast terminal sliding mode approach

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

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Main Authors: Khan, Qudrat, Akmeliawati, Rini, Bhatti, Aamer Iqbal, Khan, Mahmood Ashraf
Format: Article
Language:English
English
Published: Elsevier Ltd. 2017
Subjects:
TJ212 Control engineering
Online Access:http://irep.iium.edu.my/53664/1/53664_Robust%20stabilization%20of%20underactuated%20nonlinear%20system_article.pdf
http://irep.iium.edu.my/53664/2/53664_Robust%20stabilization%20of%20underactuated%20nonlinear%20system_scopus.pdf
http://irep.iium.edu.my/53664/
http://www.sciencedirect.com/science/article/pii/S0019057816305961
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spelling my.iium.irep.536642017-10-21T12:37:18Z http://irep.iium.edu.my/53664/ Robust stabilization of underactuated nonlinear systems: a fast terminal sliding mode approach Khan, Qudrat Akmeliawati, Rini Bhatti, Aamer Iqbal Khan, Mahmood Ashraf TJ212 Control engineering This paper presents a fast terminal sliding mode based control design strategy for a class of uncertain underactuated nonlinear systems. Strategically, this development encompasses those electro-mechanical underactuated systems which can be transformed into the so-called regular form.The novelty of the proposed technique lies in the hierarchical development of a fast terminal sliding attractor design for the considered class. Having established sliding mode along the designed manifold, the close loop dynamics become finite time stable which, consequently, result in high precision. In addition, the adverse effects of the chattering phenomenona are reduced via strong reachability condition and the robustness of the system against uncertainties is confirmed theoretically. A simulation as well as experimental study of an inverted pendulum is presented to demonstrate the applicability of the proposed technique. Elsevier Ltd. 2017-01 Article REM application/pdf en http://irep.iium.edu.my/53664/1/53664_Robust%20stabilization%20of%20underactuated%20nonlinear%20system_article.pdf application/pdf en http://irep.iium.edu.my/53664/2/53664_Robust%20stabilization%20of%20underactuated%20nonlinear%20system_scopus.pdf Khan, Qudrat and Akmeliawati, Rini and Bhatti, Aamer Iqbal and Khan, Mahmood Ashraf (2017) Robust stabilization of underactuated nonlinear systems: a fast terminal sliding mode approach. ISA Transactions, 66. pp. 241-248. ISSN 0019-0578 http://www.sciencedirect.com/science/article/pii/S0019057816305961 doi:10.1016/j.isatra.2016.10.017
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
English
topic TJ212 Control engineering
spellingShingle TJ212 Control engineering
Khan, Qudrat
Akmeliawati, Rini
Bhatti, Aamer Iqbal
Khan, Mahmood Ashraf
Robust stabilization of underactuated nonlinear systems: a fast terminal sliding mode approach
description This paper presents a fast terminal sliding mode based control design strategy for a class of uncertain underactuated nonlinear systems. Strategically, this development encompasses those electro-mechanical underactuated systems which can be transformed into the so-called regular form.The novelty of the proposed technique lies in the hierarchical development of a fast terminal sliding attractor design for the considered class. Having established sliding mode along the designed manifold, the close loop dynamics become finite time stable which, consequently, result in high precision. In addition, the adverse effects of the chattering phenomenona are reduced via strong reachability condition and the robustness of the system against uncertainties is confirmed theoretically. A simulation as well as experimental study of an inverted pendulum is presented to demonstrate the applicability of the proposed technique.
format Article
author Khan, Qudrat
Akmeliawati, Rini
Bhatti, Aamer Iqbal
Khan, Mahmood Ashraf
author_facet Khan, Qudrat
Akmeliawati, Rini
Bhatti, Aamer Iqbal
Khan, Mahmood Ashraf
author_sort Khan, Qudrat
title Robust stabilization of underactuated nonlinear systems: a fast terminal sliding mode approach
title_short Robust stabilization of underactuated nonlinear systems: a fast terminal sliding mode approach
title_full Robust stabilization of underactuated nonlinear systems: a fast terminal sliding mode approach
title_fullStr Robust stabilization of underactuated nonlinear systems: a fast terminal sliding mode approach
title_full_unstemmed Robust stabilization of underactuated nonlinear systems: a fast terminal sliding mode approach
title_sort robust stabilization of underactuated nonlinear systems: a fast terminal sliding mode approach
publisher Elsevier Ltd.
publishDate 2017
url http://irep.iium.edu.my/53664/1/53664_Robust%20stabilization%20of%20underactuated%20nonlinear%20system_article.pdf
http://irep.iium.edu.my/53664/2/53664_Robust%20stabilization%20of%20underactuated%20nonlinear%20system_scopus.pdf
http://irep.iium.edu.my/53664/
http://www.sciencedirect.com/science/article/pii/S0019057816305961
_version_ 1643614392926863360
score 13.211869

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