Robust stabilization of underactuated nonlinear systems: A fast terminal sliding mode approach. (January 2017)

• Record Type: Journal Article
• Authors: Khan, Qudrat; Akmeliawati, Rini; Bhatti, Aamer Iqbal; Khan, Mahmood Ashraf
• Is Part Of: ISA transactions. Volume 66(2017:Jan.)
• Page Start: 241
• Page End: 248
• Publication Date: 2017-01
• Subjects: Underactuated systems -- Fast terminal attractor -- Inverted pendulum -- Finite time sliding mode enforcement -- Experimental results; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2016.10.017
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: This paper presents a fast terminal sliding mode based control design strategy for a class of uncertain underactuated nonlinear systems. Strategically, this development encompasses those electro-mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of the proposed technique lies in the hierarchical development of a fast terminal sliding attractor design for the considered class. Having established sliding mode along the designed manifold, the close loop dynamics become finite time stable which, consequently, result in high precision. In addition, the adverse effects of the chattering phenomenon are reduced via strong reachability condition and the robustness of the system against uncertainties is confirmed theoretically. A simulation as well as experimental study of an inverted pendulum is presented to demonstrate the applicability of the proposed technique.