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Control for Underactuated Systems Using Sliding Mode Observer

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  • Control Theory and Applications
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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.

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Author information

Authors and Affiliations

  1. Electromechanical Department, University of Bordj Bou Arreridj, El Anasser, 34000, Algeria

    Djamila Zehar

  2. the Department of Electrical Engineering and member in LSI laboratory at University of Sétif, Sétif, 19000, Algeria

    Djamila Zehar & Khalissa Behih

  3. Electronic Department and with the LSI Laboratory at University of Setif, Setif, 19000, Algeria

    Khier Benmahammed

Authors
  1. Djamila Zehar
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  2. Khier Benmahammed
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  3. Khalissa Behih
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Correspondence to Djamila Zehar.

Additional information

Recommended by Associate Editor Huanqing Wang under the direction of Editor Hamid Reza Karimi.

Djamila Zehar has received her MSc in electrical engineering, (speciality: Automatic) at the University of Ferhat Abbes Sétif, Algeria, in 2006. She is pursuing her PhD degree in electrical engineering (speciality: Automatic) at the University of Ferhat Abbes Sétif, Algeria, where she is also a member of the intelligent systems laboratory. She is currently an assistant professor at the University of Mohamed Elbachir Elibrahimi Bordj Bou Arreridj, Algeria. Her research interests are in nonlinear complex systems, robust control, intelligent control and optimization.

Khier Benmahammed is an IEEE senior member, he has received the M.S. in electrical and computer engineering from the University of Colorado at Boulder, the M.A. in mathematics and the Ph.D. in electrical and computer engineering from the Louisiana State University at Baton Rouge, in 1980, 1984, and 1986, respectively. He has held teaching and research positions at Louisiana State University, Baton Rouge, the University of Minnesota, Duluth, Alfred University, New York, and University of Umm Al Qura, Mekka, Saudi Arabia, and visiting positions at the University of Reims, Champagne-Ardenne, University of Havre, France. He is currently a professor of electrical engineering and the director of the intelligent systems laboratory at the University Ferhat Abbas Setif 1, Algeria. His current research interests are in soft computing, signal/image processing, multidimensional systems, nonlinear systems and robotics.

Khalissa Behih has received her MSc in electrical engineering, (speciality: Automatic) at the University of Ferhat Abbes Sétif, Algeria, in 2005. She is pursuing her PhD degree in electrical engineering (speciality: Automatic) at the University of Ferhat Abbes Sétif, Algeria. She has held teaching at the University of Mohamed Elbachir Elibrahimi Bordj bou Arreridj, Algeria, from 2007 to 2016; she is currently an assistant professor and a member of the intelligent systems laboratory at the University of Ferhat Abbes Sétif, Algeria. Her research interests are in nonlinear complex systems, robotics, robust control and intelligent control.

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Zehar, D., Benmahammed, K. & Behih, K. Control for Underactuated Systems Using Sliding Mode Observer. Int. J. Control Autom. Syst. 16, 739–748 (2018). https://doi.org/10.1007/s12555-016-0730-2

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  • DOI: https://doi.org/10.1007/s12555-016-0730-2

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