Second-order Sliding Mode Approaches for the Control of a Class of Underactuated Systems

• Published in: International journal of automation and computing Vol. 12; no. 2; pp. 134 - 141
• Main Authors: Mahjoub, Sonia, Mnif, Faiçal, Derbel, Nabil
• Format: Journal Article
• Language: English
• Published: Beijing Institute of Automation, Chinese Academy of Sciences 01.04.2015; Springer Nature B.V
• Subjects: algorithm; Algorithms; Automation; CAE) and Design; Computer Applications; Computer-Aided Engineering (CAD; Control; Control systems; Controllers; Coordinate transformations; Engineering; Feedback; inverted; Liapunov functions; manipulator; Mechatronics; mode; pendulum; Regular Paper; Robotics; sliding; Sliding mode; Sliding mode control; Stability analysis; super-twisting; System effectiveness; Twisting; Underactuated; twisting algorithm; super-twisting algorithm; sliding mode control; inverted pendulum; Underactuated manipulator
• ISSN: 1476-8186; 2153-182X; 1751-8520; 2153-1838
• DOI: 10.1007/s11633-015-0880-3

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 supertwisting 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.