Design of Robust Sliding Mode Controllers for a Class of Underactuated Robotic Systems

This paper focuses on stabilization of underactuated robotic systems. Controlling of underactuated systems are very complex as compared to fully actuated systems because of more number of degrees of freedom compared to the number of actuators. Adaptive hierarchical sliding mode controller (AHSMC) and Super twisting sliding mode controller (STSMC) are designed. The developed schemes are implemented on a Pendubot system and their performance is compared. STSMC showed a superior performance in the presence of mismatched uncertainties.