Stabilizing of Inverted Pendulum System Using Robust Sliding Mode Control
Open Access
- 5 March 2022
- journal article
- Published by ASCEE Publications in International Journal of Robotics and Control Systems
- Vol. 2 (2), 230-239
- https://doi.org/10.31763/ijrcs.v2i2.594
Abstract
The Inverted Pendulum is a highly nonlinear, unstable, and fast dynamic system. These characteristics make it a popular benchmark for building and testing novel controllers. Therefore, in this study, a sliding mode controller is proposed and tested on the inverted pendulum system. According to the results of the simulation experiments with a sine signal as a reference, the proposed controller can stabilize the system well and has so fast response. Moreover, we have tuned the parameters of the proposed sliding mode controller in order to eliminate the chattering effect, the overshoot, and the steadystate error.Keywords
This publication has 29 references indexed in Scilit:
- Linear motor driven double inverted pendulum: A novel mechanical design as a testbed for control algorithmsSimulation Modelling Practice and Theory, 2018
- Optimal control of inverted pendulum system using PID controller, LQR and MPCIOP Conference Series: Materials Science and Engineering, 2017
- Stabilization of unstable equilibrium point of rotary inverted pendulum using fractional controllerJournal of the Franklin Institute, 2017
- PID Control of Inverted Pendulum Using Adams and Matlab Co-SimulationPublished by Association for Computing Machinery (ACM) ,2016
- Modelling and Simulation for Optimal Control of Nonlinear Inverted Pendulum Dynamical System Using PID Controller and LQRPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2012
- Variable Structure Systems With Sliding Modes in Motion Control—A SurveyIEEE Transactions on Industrial Informatics, 2011
- Simulation studies of inverted pendulum based on PID controllersSimulation Modelling Practice and Theory, 2011
- Real-time controlling of inverted pendulum by fuzzy logicPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2009
- Fuzzy hierarchical swing-up and sliding position controller for the inverted pendulum–cart systemFuzzy Sets and Systems, 2008
- Adaptive Sliding-Mode Control for NonlinearSystems With Uncertain ParametersIEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 2008