Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach

被引：14

作者：

Din, Sami Ud ^{[1
,2
]}

Khan, Qudrat ^{[3
,4
]}

Rehman, Fazal Ur ^{[1
]}

Akmeliawati, Rini ^{[3
]}

机构：

[1] CUST, Dept Elect Engn, Kahuta Rd,Express Highway, Islamabad 44000, Pakistan

[2] Univ Lahore UOL, Dept Elect Engn, Japan Rd,Express Highway, Islamabad 44000, Pakistan

[3] Int Islamic Univ, Dept Mech Engn, Kuala Lumpur 50728, Malaysia

[4] COMSATS Inst Informat Technol, Ctr Adv Studies Telecommun, Islamabad 44000, Pakistan

来源：

MATHEMATICAL PROBLEMS IN ENGINEERING | 2016年 / 2016卷

关键词：

Nonlinear systems - Closed loop control systems;

D O I：

10.1155/2016/5641478

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. Either the nonlinear model of the underactuated systems is transformed into an input output form and then an integral manifold is devised for the control design purpose or an integral manifold is defined directly for the concerned class. Having defined the integral manifolds discontinuous control laws are designed which are capable of maintaining sliding mode from the very beginning. The closed loop stability of these systems is presented in an impressive way. The effectiveness and demand of the designed control laws are verified via the simulation and experimental results of ball and beam system.

引用

页数：11

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