Adaptive and Robust Second Order Sliding Mode Controller Dedicated to Nonlinear Uncertain Pendulum Application System

Dhouibi, Hedi; Ghabi, Jalel; Selmi, Tarek

doi:10.24018/ejers.2019.4.12.1654

Cited by 2 publications

(1 citation statement)

References 31 publications

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“…The 2 SMC is an efficient tool that can able to solve the above drawbacks, with retaining the main characteristics of the standard SMC [11,12,13]. The aim of the 2 SMC is for directing the sliding variable S and its first derivation ̇ toward zero in finite time in spite of all these undesired perturbations [14,15,16]. In this work, the 1 SMC and 2 SMC techniques were compared by using the simulation results and then proof that a 2 SMC is better than a 1 SMC, especially the super twisting algorithm.…”

Section: Introductionmentioning

confidence: 99%

Design and Characterization of Second Order Sliding Mode Controller for Pendulum System

Hashim¹,

Hammoudi

2021

NJES

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The main purpose of this paper is to design a robust second order sliding mode controller that can deal with uncertain nonlinear systems. This controller can keep the main advantages of the first order sliding mode controller, such as the ability to make the system asymptotically stable by forcing the error and its derivatives to have a zero value, the simplicity in the operation, and the robustness in the existence of perturbations. In spite of the features that characterize the first order sliding mode controller (1 SMC), it still suffers from the unwanted phenomenon “chattering”, which originates from a discontinuous control part (sign function). In this context, saturation function can be used instead of sign function to reduce this problematic chattering. Different from the saturation function method, the second order sliding mode controller can be used to overcome the chattering; suffered by the first order sliding mode controller and to retain the stability and performance of the system. In this paper, the twisting and the super twisting second-order algorithms of the sliding mode controller were used, and their results were compared with the first order sliding mode controller. So, this subject focused on the chattering problem who suffers from it the 1 SMC and try to reduce it by using the 2 SMC, the uncertain pendulum system was adopted in this work for the purpose of checking the three controllers. The simulations results showed that the second order sliding mode controller has the ability to reduce both the chattering magnitude and the steady state error and achieve an asymptotically stable system. The results were obtained by using MATLAB programming.

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Section: Introductionmentioning

confidence: 99%

Design and Characterization of Second Order Sliding Mode Controller for Pendulum System

Hashim¹,

Hammoudi

2021

NJES

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Adaptive finite-time command-filtered backstepping sliding mode control for stabilization of a disturbed rotary-inverted-pendulum with experimental validation

Mofid

Alattas

Mobayen

et al. 2022

Journal of Vibration and Control

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In this paper, the finite-time stabilization of the disturbed and uncertain rotary-inverted-pendulum system is studied based on the adaptive backstepping sliding mode control procedure. For this purpose, first of all, the dynamical equation of the rotary-inverted-pendulum system is obtained in the state-space form in the existence of external disturbances and model uncertainties with unknown bound. Afterward, a novel command filter is defined to enhance the control strategy by consideration of a virtual control input. Therefore, the differential signal is replaced by the output of the command filter to reduce the complicated computing in the control process. Hence, the finite-time convergence of the sliding surface to the origin is attested by using the backstepping sliding mode control scheme according to the Lyapunov theory. Besides, the unknown upper bound of the exterior perturbation and uncertainty is approximated providing the adaptive control technique. Finally, simulations and experimental results are done to demonstrate the impression and proficiency of the suggested method.

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Adaptive and Robust Second Order Sliding Mode Controller Dedicated to Nonlinear Uncertain Pendulum Application System

Cited by 2 publications

References 31 publications

Design and Characterization of Second Order Sliding Mode Controller for Pendulum System

Design and Characterization of Second Order Sliding Mode Controller for Pendulum System

Adaptive finite-time command-filtered backstepping sliding mode control for stabilization of a disturbed rotary-inverted-pendulum with experimental validation

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