Smooth super-twisting sliding mode control for the class of underactuated systems

Sami Ud Din; Fazal Ur Rehman; Qudrat Khan

doi:10.1371/journal.pone.0203667

Smooth super-twisting sliding mode control for the class of underactuated systems

PLoS One. 2018 Oct 3;13(10):e0203667. doi: 10.1371/journal.pone.0203667. eCollection 2018.

Authors

Sami Ud Din¹, Fazal Ur Rehman¹, Qudrat Khan²

Affiliations

¹ Department of Electrical Engineering, Capital University of Science and Technology (C.U.S.T), Islamabad, Pakistan.
² Center for Advance Studies in Telecommunications (CAST), COMSATS University, Islamabad, Pakistan.

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).

Publication types

Research Support, Non-U.S. Gov't

MeSH terms

Algorithms
Computer Simulation
Models, Theoretical*
Nonlinear Dynamics*
Torque

Grants and funding

This research is supported by the Higher Education Commission (HEC) Pakistan. However, HEC had no role in study design, data collection, and analysis, decision to publish, or preparation of this manuscript. However, it is not funded any organization/ institute.