Robust stabilization of underactuated systems via fast terminal sliding mode

Qudrat Khan; Aamer Iqbal Bhatti; Rini Akmeliawati

doi:10.1109/ASCC.2015.7244520

Robust stabilization of underactuated systems via fast terminal sliding mode

Qudrat Khan, Aamer Iqbal Bhatti, Rini Akmeliawati

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This paper presents a fast terminal sliding mode control strategy for a class of underactuated systems. Strategically, this development encompasses those electro mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of this article lies in the hierarchical development of a fast terminal sliding manifold design for the considered class. Having established sliding mode against the designed manifold, the close loop dynamics becomes finite time stable which results in high precession. In addition, the adverse effects of chattering phenomenon are eliminated and the robustness of the system against uncertainties is confirmed theoretically in a couple of theorems. A comprehensive numerical example of the cart pendulum is presented to verify the claims for the considered class.

Original language	English
Title of host publication	2015 10th Asian Control Conference
Subtitle of host publication	Emerging Control Techniques for a Sustainable World, ASCC 2015
Editors	Hazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479978625
DOIs	https://doi.org/10.1109/ASCC.2015.7244520
State	Published - 8 Sep 2015
Externally published	Yes

Publication series

Name	2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ASCC.2015.7244520

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Khan, Q., Bhatti, A. I., & Akmeliawati, R. (2015). Robust stabilization of underactuated systems via fast terminal sliding mode. In H. Selamat, H. R. H. Ramli, A. A. M. Faudzi, R. Z. A. Rahman, A. J. Ishak, A. C. Soh, & S. A. Ahmad (Eds.), 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 Article 7244520 (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2015.7244520

Khan, Qudrat ; Bhatti, Aamer Iqbal ; Akmeliawati, Rini. / Robust stabilization of underactuated systems via fast terminal sliding mode. 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. editor / Hazlina Selamat ; Hafiz Rashidi Haruna Ramli ; Ahmad Athif Mohd Faudzi ; Ribhan Zafira Abdul Rahman ; Asnor Juraiza Ishak ; Azura Che Soh ; Siti Anom Ahmad. Institute of Electrical and Electronics Engineers Inc., 2015. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015).

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title = "Robust stabilization of underactuated systems via fast terminal sliding mode",

abstract = "This paper presents a fast terminal sliding mode control strategy for a class of underactuated systems. Strategically, this development encompasses those electro mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of this article lies in the hierarchical development of a fast terminal sliding manifold design for the considered class. Having established sliding mode against the designed manifold, the close loop dynamics becomes finite time stable which results in high precession. In addition, the adverse effects of chattering phenomenon are eliminated and the robustness of the system against uncertainties is confirmed theoretically in a couple of theorems. A comprehensive numerical example of the cart pendulum is presented to verify the claims for the considered class.",

author = "Qudrat Khan and Bhatti, \{Aamer Iqbal\} and Rini Akmeliawati",

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year = "2015",

month = sep,

day = "8",

doi = "10.1109/ASCC.2015.7244520",

language = "English",

series = "2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015",

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editor = "Hazlina Selamat and Ramli, \{Hafiz Rashidi Haruna\} and Faudzi, \{Ahmad Athif Mohd\} and Rahman, \{Ribhan Zafira Abdul\} and Ishak, \{Asnor Juraiza\} and Soh, \{Azura Che\} and Ahmad, \{Siti Anom\}",

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Khan, Q, Bhatti, AI & Akmeliawati, R 2015, Robust stabilization of underactuated systems via fast terminal sliding mode. in H Selamat, HRH Ramli, AAM Faudzi, RZA Rahman, AJ Ishak, AC Soh & SA Ahmad (eds), 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015., 7244520, 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015, Institute of Electrical and Electronics Engineers Inc. https://doi.org/10.1109/ASCC.2015.7244520

Robust stabilization of underactuated systems via fast terminal sliding mode. / Khan, Qudrat; Bhatti, Aamer Iqbal; Akmeliawati, Rini.
2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. ed. / Hazlina Selamat; Hafiz Rashidi Haruna Ramli; Ahmad Athif Mohd Faudzi; Ribhan Zafira Abdul Rahman; Asnor Juraiza Ishak; Azura Che Soh; Siti Anom Ahmad. Institute of Electrical and Electronics Engineers Inc., 2015. 7244520 (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Bhatti, Aamer Iqbal

AU - Akmeliawati, Rini

PY - 2015/9/8

Y1 - 2015/9/8

N2 - This paper presents a fast terminal sliding mode control strategy for a class of underactuated systems. Strategically, this development encompasses those electro mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of this article lies in the hierarchical development of a fast terminal sliding manifold design for the considered class. Having established sliding mode against the designed manifold, the close loop dynamics becomes finite time stable which results in high precession. In addition, the adverse effects of chattering phenomenon are eliminated and the robustness of the system against uncertainties is confirmed theoretically in a couple of theorems. A comprehensive numerical example of the cart pendulum is presented to verify the claims for the considered class.

AB - This paper presents a fast terminal sliding mode control strategy for a class of underactuated systems. Strategically, this development encompasses those electro mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of this article lies in the hierarchical development of a fast terminal sliding manifold design for the considered class. Having established sliding mode against the designed manifold, the close loop dynamics becomes finite time stable which results in high precession. In addition, the adverse effects of chattering phenomenon are eliminated and the robustness of the system against uncertainties is confirmed theoretically in a couple of theorems. A comprehensive numerical example of the cart pendulum is presented to verify the claims for the considered class.

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DO - 10.1109/ASCC.2015.7244520

M3 - Conference contribution

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BT - 2015 10th Asian Control Conference

A2 - Selamat, Hazlina

A2 - Ramli, Hafiz Rashidi Haruna

A2 - Faudzi, Ahmad Athif Mohd

A2 - Rahman, Ribhan Zafira Abdul

A2 - Ishak, Asnor Juraiza

A2 - Soh, Azura Che

A2 - Ahmad, Siti Anom

PB - Institute of Electrical and Electronics Engineers Inc.

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Khan Q, Bhatti AI, Akmeliawati R. Robust stabilization of underactuated systems via fast terminal sliding mode. In Selamat H, Ramli HRH, Faudzi AAM, Rahman RZA, Ishak AJ, Soh AC, Ahmad SA, editors, 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. Institute of Electrical and Electronics Engineers Inc. 2015. 7244520. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015). doi: 10.1109/ASCC.2015.7244520

Robust stabilization of underactuated systems via fast terminal sliding mode

Abstract

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Bibliographical note

ASJC Scopus subject areas

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