A Combined H2/Sliding Mode Controller Design for a TORA System

Hazem I. Ali; Mustafa J. Kadhim

doi:10.29194/NJES.21040501

A Combined H2/Sliding Mode Controller Design for a TORA System

Authors

Hazem I. Ali Control & Systems Eng., University of Technology, Baghdad, IRAQ
Mustafa J. Kadhim Control & Systems Eng., University of Technology, Baghdad, IRAQ

DOI:

https://doi.org/10.29194/NJES.21040501

Keywords:

TORA System, Robust Control, Sliding Mode Control, H2 Statefeedback, Optimal Control

Abstract

In this work, the control of Translational Oscillations with a Rotational Actuator (TORA) system is presented in this paper. The optimal sliding mode controller is proposed to control the two DOF underactuated mechanical system. The nonlinear coupling from the rotational to the translational motion is the main problem that faces the controller design. The H₂ sliding mode controller is designed to give a better performance if only sliding mode control is used. The results illustrate that the proposed H₂ sliding mode controller can achieve the stabilization of the system with the variation in system parameters and disturbance.

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Published

20-12-2018

Issue

Vol. 21 No. 4 (2018): Al-Nahrain Journal for Engineering Sciences

Section

Articles

License

The authors retain the copyright of their manuscript by submitting the work to this journal, and all open access articles are distributed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International (CC-BY-NC 4.0), which permits use for any non-commercial purpose, distribution, and reproduction in any medium, provided that the original work is properly cited.

How to Cite

[1]

H. I. Ali and M. J. Kadhim, “A Combined H2/Sliding Mode Controller Design for a TORA System”, NJES, vol. 21, no. 4, pp. 501–507, Dec. 2018, doi: 10.29194/NJES.21040501.