TY - JOUR
T1 - Second-order sliding mode approaches for the control of a class of underactuated systems
AU - Mahjoub, Sonia
AU - Mnif, Faiçal
AU - Derbel, Nabil
N1 - Publisher Copyright:
© 2015, Institute of Automation, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.
PY - 2015/4/1
Y1 - 2015/4/1
N2 - In this paper, first-order and second-order sliding mode controllers for underactuated manipulators are proposed. Sliding mode control (SMC) is considered as an effective tool in different studies for control systems. However, the associated chattering phenomenon degrades the system performance. To overcome this phenomenon and track a desired trajectory, a twisting, a super-twisting and a modified super-twisting algorithms are presented respectively. The stability analysis is performed using a Lyapunov function for the proposed controllers. Further, the four different controllers are compared with each other. As an illustration, an example of an inverted pendulum is considered. Simulation results are given to demonstrate the effectiveness of the proposed approaches.
AB - In this paper, first-order and second-order sliding mode controllers for underactuated manipulators are proposed. Sliding mode control (SMC) is considered as an effective tool in different studies for control systems. However, the associated chattering phenomenon degrades the system performance. To overcome this phenomenon and track a desired trajectory, a twisting, a super-twisting and a modified super-twisting algorithms are presented respectively. The stability analysis is performed using a Lyapunov function for the proposed controllers. Further, the four different controllers are compared with each other. As an illustration, an example of an inverted pendulum is considered. Simulation results are given to demonstrate the effectiveness of the proposed approaches.
KW - Underactuated manipulator
KW - inverted pendulum
KW - sliding mode control
KW - super-twisting algorithm
KW - twisting algorithm
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U2 - 10.1007/s11633-015-0880-3
DO - 10.1007/s11633-015-0880-3
M3 - Article
AN - SCOPUS:84928157544
SN - 1476-8186
VL - 12
SP - 134
EP - 141
JO - International Journal of Automation and Computing
JF - International Journal of Automation and Computing
IS - 2
ER -