Performance Evaluation of Sliding Mode Control for Underactuated Systems Based on Decoupling Algorithm

The present work investigates an approach of sliding mode control with a decoupling algorithm to stabilize a class of underactuated systems. The decoupled method offers an unexacting mean to attain asymptotic stability for nth-order nonlinear systems. The translator oscillator rotational actuator (TORA) is chosen here to test the efficacy of the proposed control scheme. The detailed mathematical framework of underactuated systems and the proposed SMC are presented in the article. The underactuated systems are provided with different control inputs. The simulation results of the TORA system with the proposed control scheme demonstrate robust performance in a wide range of operations and disturbances. The system’s stability, accuracy and transient performance measures like peak overshoot and response time improved with increment in the type of control input to the system.