Title :
Robust sliding mode controller for a class of under-actuated systems
Author :
Kherraz, Khedoudja ; Hamerlain, Mustapha ; Achour, Nouara
Author_Institution :
Electron. Dept., Univ. of Sci. & Technol. U.S.T.H.B, Algiers, Algeria
Abstract :
Due to nonlinearities and uncertainties, the dynamic characteristics of underactuated systems are very difficult to obtain precisely. In this paper we develop a robust controller based on sliding mode control for the control of a class of underactuated systems. The stability of the proposed controller is proved with the Lyapunov function method. Simulation results made on a flexible link manipulator are given to illustrate effectiveness of our approach.
Keywords :
flexible manipulators; robust control; variable structure systems; Lyapunov function method; flexible link manipulator; robust sliding mode controller; underactuated systems; Joints; Manipulator dynamics; Robustness; Sliding mode control; Trajectory; flexible link manipulator; sliding mode control; trajectory control; underactuated systems; vibration control;
Conference_Titel :
Sciences and Techniques of Automatic Control and Computer Engineering (STA), 2014 15th International Conference on
DOI :
10.1109/STA.2014.7086751
