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05.04.2019 | Original Article | Ausgabe 3/2019 Open Access

Complex & Intelligent Systems 3/2019

Incremental SMC-based CNF control strategy considering magnetic ball suspension and inverted pendulum systems through cuckoo search-genetic optimization algorithm

Complex & Intelligent Systems > Ausgabe 3/2019
H. Ebrahimi Mollabashi, A. H. Mazinan
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A kind of incremental sliding mode control (SMC) approach in connection with the well-known composite nonlinear feedback (CNF) control strategy is newly considered in this research to deal with the nonlinear magnetic ball suspension and inverted pendulum systems, as well. The incremental SMC approach is in fact proposed to handle the aforementioned underactuated systems under control, which have a lower number of actuators than degrees of freedom. Based on the outcomes of the investigation presented here, the small overshoot and short settling time of the system response are fulfilled. In fact, the proposed CNF control strategy comprises two parts: the first term assures the stability of the closed-loop nonlinear system and provides a fast convergence response. The second term reduces its overshoot. The genetic-cuckoo hybrid algorithm is designed to minimize tracking errors for the purpose of finding the most suitable sliding surface coefficients. Finally, the finite time stability for the closed-loop system is proved, theoretically.
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