|Control for Underactuated Systems Using Sliding Mode Observer
Djamila Zehar*, Khier Benmahammed, and Khalissa Behih
International Journal of Control, Automation, and Systems, vol. 16, no. 2, pp.739-748, 2018
Abstract : "In this work, first we estimate all the system’s state vector, with guarantied precision, for a category
of second order underactuated mechanical systems (UMS), exploiting the triangular observer (TO) model that
suits to the structure of these systems. Then we propose a sliding mode controller (SMC). The latter uses the
estimated states given by the observer. The underactuated system is decomposed into two subsystems, where the
sliding surface is constructed in two levels for each subsystem. The proposed controller guaranties the tracking
performances, with minimization of chattering phenomenon, due to the constructed observer, even for system with
uncertainties. Simulation results show the effectiveness of this strategy of control."
Observer, sliding mode control, stability anlysis, uncertainty, underactuated system.
Download PDF : Click this link