TY - JOUR ID - TI - Design of Adaptive Sliding Mode Controller for Uncertain Pendulum System AU - Ahmed K. Hamoudi AU - Dina H. Tohma a*, PY - 2021 VL - 39 IS - 3 part (A) Engineering SP - 355 EP - 369 JO - Engineering and Technology Journal مجلة الهندسة والتكنولوجيا SN - 16816900 24120758 AB - This work aims to study and apply the adaptive sliding mode controller(ASMC) for the pendulum system with the existence of the parametersuncertainty, external disturbances, and coulomb friction. The adaptivesliding mode controller has several features over the conventional slidingmode control method. Firstly, the magnitude of the control signal isreduced to the minimally acceptable level defined by special conditionsconcerned with ASMC algorithm. Secondly, the upper bounds ofuncertainties are not necessary to be defined before starting the work. Forthis reason, the ASMC can be used successfully to control the pendulumsystem with minimum control effort. These properties of the ASMC areconfirming graphically by the simulation results using MATLAB 2019. TheASMC achieves an asymptotically stable system better than the ClassicalSliding Mode Controller (CSMC). The unwanted phenomenon is called“chattering", which is appearing in the control action signal. Thesedrawback properties are suppressed by employing a saturation function.Finally, the comparison between the results of the ASMC and CSMCshowed that ASMC is the better one

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