Vol. 21 No. 4 (2018) Cover Image
Vol. 21 No. 4 (2018)

Published: December 31, 2018

Pages: 501-507

Articles

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

Hazem I. Ali 1 Mustafa J. Kadhim 1
1 Control & Systems Eng., University of Technology, Baghdad, IRAQ
History
  • Received: September 14, 2018
  • Available Online: December 20, 2018
DOI

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

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.

Keywords

References

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