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

• 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

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...