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; English
• Published: Institute of Electrical and Electronics Engineers Inc. 2018
• Subjects: TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General); TJ212 Control engineering
• Online Access: http://irep.iium.edu.my/70742/1/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_article%20vol.%206.pdf; http://irep.iium.edu.my/70742/2/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_scopus_vol.%206.pdf; http://irep.iium.edu.my/70742/3/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_wos_vol.%206.pdf; http://irep.iium.edu.my/70742/; https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8169028

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 transfo...