ADAPTIVE WAVELETS SLIDING MODE CONTROL FOR A CLASS OF SECOND ORDER UNDERACTUATED MECHANICAL SYSTEMS

The control of underactuated mechanical systems (UMS) remains an attracting field where researchers can develop their algorithms. To this date, various linear and nonlinear techniques using classical intelligent methods have been published in literature. In work, adaptive controller sliding mode (SMC) wavelets network (WN) is proposed for a class second-order UMS with two degrees freedom (DOF).This strategy takes advantage both wavelet properties. the main result, we consider case un-modeled dynamics above-mentioned UMS, introduce to design based on SMC. update algorithms are directly extracted by gradient descent method conditions then settled achieve required convergence performance.The efficacy approach demonstrated through application pendubot.