Robust control of underactuated systems: higher order integral sliding mode approach

• Main Authors: ud Din, Sami, Khan, Qudrat, Rehman, Fazal ur, Akmeliawati, Rini
• Format: Article
• Language: English; English; English
• Published: Hindawi Publishing Corporation 2016
• Subjects: TJ212 Control engineering
• Online Access: http://irep.iium.edu.my/49717/1/5641478.pdf; http://irep.iium.edu.my/49717/4/49717_Robust%20control%20of%20underactuated_SCOPUS_WOS.pdf; http://irep.iium.edu.my/49717/9/49717_Robust%20Control%20of%20Underactuated%20Systems_wos.pdf; http://irep.iium.edu.my/49717/; http://www.hindawi.com/journals/mpe/2016/5641478/

This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. Either the nonlinearmodel of the underactuated systems is transformed into an input output formand then an integral manifold is devised for the control design purpose or an integral manifold is...