Control for Underactuated Systems Using Sliding Mode Observer

  • Djamila Zehar
  • Khier Benmahammed
  • Khalissa Behih
Regular Paper Control Theory and Applications


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 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Djamila Zehar
    • 1
    • 2
  • Khier Benmahammed
    • 3
  • Khalissa Behih
    • 2
  1. 1.Electromechanical DepartmentUniversity of Bordj Bou ArreridjEl AnasserAlgeria
  2. 2.the Department of Electrical Engineering and member in LSI laboratory at University of SétifSétifAlgeria
  3. 3.Electronic Department and with the LSI Laboratory at University of SetifSetifAlgeria

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