Design an Adaptive Sliding Mode Controller for a Class of Underactuated Systems

ADMT Journal

دوره 14، شماره 4، اسفند 2021، صفحه 37-44   

نوع مقاله: Original Article

شناسه دیجیتال (DOI): 10.30495/admt.2021.1898210.1194

نویسندگان

Hossein Moeinkhah^{* 1}؛ Mohammad Ahmadi Balootaki²

¹Department of Mechanical Engineering, Shahid Nikbakht Faculty, University of Sistan and Baluchestan, Zahedan, Iran.

²Department of Mechanical Engineering, Shahid Nikbakht Faculty, University of Sistan and Baluchestan, Zahedan, Iran. Faculty of Shahid Bahonar, Sistan and Baluchestan Branch, Technical and Vocational University (TVU), Zahedan, Iran.

چکیده

The majority of underactuated systems are nonholonomic, due to non-integrable differential constraints. Therefore, controlling an underactuated system is considered as a challenging problem. In this study, an adaptive controller based on super-twisting sliding mode controller is proposed for a class of robust underactuated systems subjected to uncertainties and external disturbances. The adaptive compensator was designed so that there would be no need to the upper bound of the external disturbance. The controller parameters of adaptive sliding mode control are tuned based on a multi-objective non-dominated sorting of genetic optimization algorithm. The results of simulation and the demonstration of the effectiveness and applicability of the proposed scheme are presented.

کلیدواژه‌ها

Adaptive Sliding Mode Control؛ Multi-Objective Non-Dominated Sorting؛ Robust Controller؛ Stability Analysis؛ Underactuated Systems

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