Sliding mode control (SMC) has been considered as an effective tool in different studies for control systems. The robustness of SMC against the disturbances and model uncertainties makes the system stable. However, the chattering phenomenon degrades the system performances, it may even lead to instability. This paper deals with the second ordre sliding mode the twisting and super-twisting algorithm to solve the tracking control of underactuated manipulators. Further, comparison between controllers has been done. Simulation results are given to demonstrate the effectiveness of the proposed approaches.
|المعرِّفات الرقمية للأشياء|
|حالة النشر||Published - 2013|
|الحدث||14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2013 - Sousse, Tunisia|
المدة: ديسمبر ٢٠ ٢٠١٣ → ديسمبر ٢٢ ٢٠١٣
|Other||14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2013|
|المدة||١٢/٢٠/١٣ → ١٢/٢٢/١٣|
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