Second-order sliding mode control applied to inverted pendulum

Sonia Mahjoub, Faiçal Mnif, Nabil Derbel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 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
Title of host publication14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2013
PublisherIEEE Computer Society
Pages269-273
Number of pages5
DOIs
Publication statusPublished - 2013
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
CountryTunisia
CitySousse
Period12/20/1312/22/13

Fingerprint

Sliding mode control
Pendulums
Robustness (control systems)
Manipulators
Control systems
Controllers
Uncertainty

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Mahjoub, S., Mnif, F., & Derbel, N. (2013). Second-order sliding mode control applied to inverted pendulum. In 14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2013 (pp. 269-273). [6783142] IEEE Computer Society. https://doi.org/10.1109/STA.2013.6783142

Second-order sliding mode control applied to inverted pendulum. / Mahjoub, Sonia; Mnif, Faiçal; Derbel, Nabil.

14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2013. IEEE Computer Society, 2013. p. 269-273 6783142.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mahjoub, S, Mnif, F & Derbel, N 2013, Second-order sliding mode control applied to inverted pendulum. in 14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2013., 6783142, IEEE Computer Society, pp. 269-273, 14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2013, Sousse, Tunisia, 12/20/13. https://doi.org/10.1109/STA.2013.6783142
Mahjoub S, Mnif F, Derbel N. Second-order sliding mode control applied to inverted pendulum. In 14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2013. IEEE Computer Society. 2013. p. 269-273. 6783142 https://doi.org/10.1109/STA.2013.6783142
Mahjoub, Sonia ; Mnif, Faiçal ; Derbel, Nabil. / Second-order sliding mode control applied to inverted pendulum. 14th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, STA 2013. IEEE Computer Society, 2013. pp. 269-273
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