Second-order sliding mode control applied to inverted pendulum

Author

Mahjoub, Sonia ; Mnif, Faical ; Derbel, Nabil

Author_Institution

Control & Energy Managment, Ecole Nat. d´Ing. de Sfax, Sfax, Tunisia

fYear

2013

Firstpage

269

Lastpage

273

Abstract

Sliding mode control (SMC) has been considered as an effective tool in different studies for control systems. The robustness of SMC against the disturbances and model uncertainties makes the system stable. However, the chattering phenomenon degrades the system performances, it may even lead to instability. This paper deals with the second order sliding mode the twisting and super-twisting algorithm to solve the tracking control of underactuated manipulators. Further, comparison between controllers has been done. Simulation results are given to demonstrate the effectiveness of the proposed approaches.

Keywords

manipulators; nonlinear control systems; robust control; uncertain systems; variable structure systems; SMC; inverted pendulum; model uncertainties; second order sliding mode control; super twisting algorithm; tracking control; underactuated manipulators; Algorithm design and analysis; Computers; Manipulators; Robustness; Sliding mode control; Underactuated manipulator; cart-pendulum; sliding mode control; super-twisting algorithm; twisting algorithm;

fLanguage

English

Publisher

ieee

Conference_Titel

Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2013 14th International Conference on

Conference_Location

Sousse

Print_ISBN

978-1-4799-2953-5

Type

conf

DOI

10.1109/STA.2013.6783142

Filename

6783142