Design an Adaptive Sliding Mode Controller for a Class of Underactuated Systems
Publish place: International Journal of Advanced Design and Manufacturing Technology، Vol: 14، Issue: 4
Publish Year: 1400
Type: Journal paper
Language: English
View: 221
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Document National Code:
JR_ADMTL-14-4_005
Index date: 16 August 2022
Design an Adaptive Sliding Mode Controller for a Class of Underactuated Systems abstract
The majority of underactuated systems are nonholonomic, due to non-integrable differential constraints. Therefore, controlling an underactuated system is considered as a challenging problem. In this study, an adaptive controller based on super-twisting sliding mode controller is proposed for a class of robust underactuated systems subjected to uncertainties and external disturbances. The adaptive compensator was designed so that there would be no need to the upper bound of the external disturbance. The controller parameters of adaptive sliding mode control are tuned based on a multi-objective non-dominated sorting of genetic optimization algorithm. The results of simulation and the demonstration of the effectiveness and applicability of the proposed scheme are presented.
Design an Adaptive Sliding Mode Controller for a Class of Underactuated Systems Keywords:
Adaptive Sliding Mode Control , Multi-Objective Non-Dominated Sorting , Robust controller , Stability Analysis , Underactuated Systems
Design an Adaptive Sliding Mode Controller for a Class of Underactuated Systems authors
Hossein Moeinkhah
Department of Mechanical Engineering, Shahid Nikbakht Faculty, University of Sistan and Baluchestan, Zahedan, Iran.
Mohammad Ahmadi Balootaki
Department of Mechanical Engineering, Shahid Nikbakht Faculty, University of Sistan and Baluchestan, Zahedan, Iran. Faculty of Shahid Bahonar, Sistan and Baluchestan Branch, Technical and Vocational University (TVU), Zahedan, Iran.
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