Sliding Mode Controller Designed for a Class of Under Actuated Systems

Document Type: Original Article

Authors

1 Department of Electrical Engineering, Ahar Branch, Islamic Azad University, Ahar, Iran,

2 Department of Electrical Engineering, Ahar Branch, Islamic Azad University, Ahar, Iran

Abstract

Many real systems are among underactuated stimulation systems. The number of actuators in such systems is less than their freedom degree. Translational oscillator with rotational actuator (TORA) is an underactuated system in cascaded form. In the present paper, this system has been investigated as a case study and then a sliding mode controller has been designed for it. This is due to the fact that among non-linear controlling methods, sliding mode control is appropriate to achieve global stabilization. Also it is robust against external disturbances and parametric uncertainties in the system under control. In this paper the efficiency of simulation has been investigated.

Keywords