title: Robust stabilization of underactuated nonlinear systems: A fast terminal sliding mode approach.
abstract: This paper presents a fast terminal sliding mode based control design strategy for a class of uncertain underactuated nonlinear systems. Strategically, this development encompasses those electro-mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of the proposed technique lies in the hierarchical development of a fast terminal sliding attractor design for the considered class. Having established sliding mode along the designed manifold, the close loop dynamics become finite time stable which, consequently, result in high precision. In addition, the adverse effects of the chattering phenomenon are reduced via strong reachability condition and the robustness of the system against uncertainties is confirmed theoretically. A simulation as well as experimental study of an inverted pendulum is presented to demonstrate the applicability of the proposed technique.
authors.affiliation: Department of Mechatronics Engineering, IIUM Malaysia; Center for Advanced Studies in Telecommunication, CIIT, Islamabad, Pakistan. Electronic address: qudratullah@comsats.edu.pk.
authors.forename: Qudrat
authors.initials: Q
authors.lastname: Khan
authors.affiliation: Department of Mechatronics Engineering, IIUM Malaysia. Electronic address: rakmelia@iium.edu.my.
authors.forename: Rini
authors.initials: R
authors.lastname: Akmeliawati
authors.affiliation: Muhammad Ali Jinnah University, Islamabad, Pakistan. Electronic address: aamer987@gmail.com.
authors.forename: Aamer Iqbal
authors.initials: AI
authors.lastname: Bhatti
authors.affiliation: Center for Advanced Studies in Telecommunication, CIIT, Islamabad, Pakistan. Electronic address: mahmoodashraf@comsats.edu.pk.
authors.forename: Mahmood Ashraf
authors.initials: MA
authors.lastname: Khan
keywords: Experimental results; Fast terminal attractor; Finite time sliding mode enforcement; Inverted pendulum; Underactuated systems