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

• 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/57884/1/57884_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; http://irep.iium.edu.my/57884/; http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7938613&tag=1

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...