Journal
IEEE ACCESS
Volume 5, Issue -, Pages 10068-10080Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2017.2712261
Keywords
Electromechanical system; sliding mode control; Lyapunov method; robust control; nonlinear systems
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Funding
- Higher Education Commission, Government of Pakistan
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This paper presents a comprehensive comparative study for the tracking control of a class of underactuated nonlinear uncertain systems. A given nonlinear model of the underactuated system is, at first stage, transformed into an input output form and the driving applied control input of the transformed system is then designed via four sliding mode control strategies, i.e., conventional first-order sliding mode control (SMC), second-order SMC, fast terminal SMC, and integral SMC. At the second stage, a ball and beam system is considered and the aforementioned four control design strategies are experimentally implemented. A comprehensive comparative study of the simulation and experimental results is then conducted, which take into account the tracking performance, i.e., settling time, overshoots, robustness enhancement, chattering reduction, sliding mode convergences, and control efforts.
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