Abstract
In this article, Smooth Super-twisting Sliding Mode Control (SSTWSMC) is investigated for the class of underactuated system. In underactuated systems, the control design is not directly applicable as for other systems (known as fully actuated systems). Therefore, at initial step, a nonlinear uncertain model of systems is transformed into the controllable canonical form, and then Smooth Super Twisting (SSTW) based Sliding Mode Control (SMC) is devised for the control design purpose for the considered class. In addition, closed loop stability of the proposed technique is presented in a fascinating way. The effectiveness and supremacy of the proposed control technique is proven by extensive analysis between conventional Sliding Mode Control (SMC), Super twisting (STW) sliding mode control and Smooth Super-twisting Sliding Mode Control (SSTWSMC). The comprehensive analysis evaluates the attributes like robustness enhancement, settling time, control effort, chattering reduction, overshoot, sliding mode convergence, etc. and is supported by simulations as well as practical implementation on ball and beam balancer (which is considered as application example).
Highlights
As by definition, underactuated systems have less number of control input than their degrees of freedom (DOF)
As simulation result of Smooth Super-twisting Sliding Mode Control (SSTWSMC) is extensively analyzed with the simulation results of Sliding Mode Control (SMC) and Smooth Super Twisting (SSTW) laid in [7], following the same footprint, the experimental study of SSTWSMC is comparing the experimental results of conventional SMC and STW posed in [7]. (Fig 12) portrays the tracking profile of SMC, STW and SSTWSMC, where (Fig 13) displays its magnified version
It is evident that the SSTWSMC shows the most precise results toward the desired point and minor deviation exists due to hardware limitation
Summary
As by definition, underactuated systems have less number of control input than their degrees of freedom (DOF). The control design for such systems are more challenging than other systems (called fully actuated systems). The underactuated systems remain under the spotlight in the control community from the last two decades [1]. The control design of the aforesaid class has its vital importance in the area of locomotive systems, robotics and different kinds of manipulators, etc. Ball and beam balancer [4], flexible joint manipulator of 1-link, single and double inverted pendulum belongs to this class [5]. For the independent or standalone effective operation of such systems, very sophisticated control techniques are required
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
