Design and implementation of sliding mode-state feedback control for stabilization of Rotary Inverted Pendulum | IEEE Conference Publication | IEEE Xplore

Design and implementation of sliding mode-state feedback control for stabilization of Rotary Inverted Pendulum


Abstract:

In this paper, design and implementation of stabilizing controller for Rotary Inverted Pendulum (RIP) which is an underactuated nonlinear mechanical system, is presented....Show More

Abstract:

In this paper, design and implementation of stabilizing controller for Rotary Inverted Pendulum (RIP) which is an underactuated nonlinear mechanical system, is presented. A sliding mode-state feedback control scheme is proposed for the stabilization of the RIP system. In this scheme, genetic algorithm based state feedback control and sliding mode control (SMC) combined. After swinging up the pendulum, the proposed sliding mode control is activated and stabilized the pendulum (indirectly controlled mode) in upright position. In spite of being Insensitive to the model error and having the ability to globally stabilize the RIP system, undesirable chattering phenomenon and high amount of control energy consumption are the main disadvantages of implementing SMC. In order to eliminate the chattering phenomenon and reduce control energy after stabilization of the pendulum, the SMC switched to GA based state feedback control which is a smooth control law that stabilizes the system around equilibrium states. Experimental results of implementing proposed controller show a high performance of it in comparison to SMC.
Published in: ICCAS 2010
Date of Conference: 27-30 October 2010
Date Added to IEEE Xplore: 17 December 2010
ISBN Information:
Conference Location: Gyeonggi-do, Korea (South)

1. INTRODUCTION

The Rotary Inverted Pendulum is an inherently open loop unstable system with highly nonlinear dynamics. Also this system is an underactuated mechanical system, i.e., it has fewer actuators than the degrees of freedom to be controlled. Controlling the RIP system is an interesting and a challenging problem in modern control theory.

References

References is not available for this document.