Second-order sliding mode approaches for the control of a class of underactuated systems

Sonia Mahjoub*, Faiçal Mnif, Nabil Derbel

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

33 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)134-141
Number of pages8
JournalInternational Journal of Automation and Computing
Issue number2
Publication statusPublished - Apr 1 2015


  • Underactuated manipulator
  • inverted pendulum
  • sliding mode control
  • super-twisting algorithm
  • twisting algorithm

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Applied Mathematics


Dive into the research topics of 'Second-order sliding mode approaches for the control of a class of underactuated systems'. Together they form a unique fingerprint.

Cite this