• DocumentCode
    3586143
  • Title

    Robust sliding mode controller for a class of under-actuated systems

  • Author

    Kherraz, Khedoudja ; Hamerlain, Mustapha ; Achour, Nouara

  • Author_Institution
    Electron. Dept., Univ. of Sci. & Technol. U.S.T.H.B, Algiers, Algeria
  • fYear
    2014
  • Firstpage
    942
  • Lastpage
    946
  • Abstract
    Due to nonlinearities and uncertainties, the dynamic characteristics of underactuated systems are very difficult to obtain precisely. In this paper we develop a robust controller based on sliding mode control for the control of a class of underactuated systems. The stability of the proposed controller is proved with the Lyapunov function method. Simulation results made on a flexible link manipulator are given to illustrate effectiveness of our approach.
  • Keywords
    flexible manipulators; robust control; variable structure systems; Lyapunov function method; flexible link manipulator; robust sliding mode controller; underactuated systems; Joints; Manipulator dynamics; Robustness; Sliding mode control; Trajectory; flexible link manipulator; sliding mode control; trajectory control; underactuated systems; vibration control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2014 15th International Conference on
  • Type

    conf

  • DOI
    10.1109/STA.2014.7086751
  • Filename
    7086751
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3586143