Second-order sliding mode control applied to inverted pendulum

Sonia Mahjoub, Faiçal Mnif, Nabil Derbel

Research output: Contribution to conferencePaperpeer-review

10 Citations (Scopus)

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 ordre 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.

Original languageEnglish
Pages269-273
Number of pages5
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2013 - Sousse, Tunisia
Duration: Dec 20 2013Dec 22 2013

Other

Other14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2013
Country/TerritoryTunisia
CitySousse
Period12/20/1312/22/13

Keywords

  • Underactuated manipulator
  • cart-pendulum
  • sliding mode control
  • super-twisting algorithm
  • twisting algorithm

ASJC Scopus subject areas

  • Control and Systems Engineering

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