Control of underactuated system with built in uncertainty using quadratic and sliding mode control augmented with optimization

Abstract

Control theory is a superior extension of Mathematics, devoted to the dynamic systems along with its inputs, to derive proficient control approaches to achieve the behooving end products from a plant or a process. Control problems are omnipresent in inexhaustible engineering functions that are deeply entangled with real-world constraints. Though many control strategies have been accomplished and firmed for linear time-invariant systems, control approaches toward Non-linear systems have been a hotshot target in recent research intentions in control theory, as the current plot of aerospace, robotics, and missile launch applications widely shows the non-linear system behaviour. newlineThe Inverted Pendulum (IP) illustrates a considerable class of highly nonlinear systems that is terribly unstable. With a wide brand of pendulums available, the Furuta pendulum or Rotary Inverted Pendulum (RIP) is a nonlinear system with an influence of underactuated, non-minimum phase systems, that can be matched to a linearized model, thereby deepening the design of possible controllers to the real-world complications installed with constraints like position control of robots and drones, rocket launch control newline