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Sliding Mode Control of a Rotary Inverted Pendulum using Higher Order Differential Observer
Philippe Faradja,Guoyuan Qi,Martial Tatchum 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
The Inverted Pendulum is the benchmark system for control methods. Most linear controllers are not efficient under the situations of disturbances and other uncertainties. As high precision and robustness are required, a sliding mode controller is used in this work. Due to uncertainties, a model free based observer is used to estimate some states. The simulation and real experiment results demonstrate the robustness of the controller and the efficiency of a model free observer.
Philippe Faradja,Guoyuan Qi 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper investigates the robustness with plant parameter variation of a sliding mode controller (SMC) that was recently proposed. Nonlinear chaotic systems are used as they are sensitive to parameter change and initial conditions. Synchronization of chaotic systems is used as it solves the tracking problem in a dynamic environment. The convergence time as a measure of robustness is also observed. Overall it is shown illustratively that the controller performs well but not as good as model free controller (MFC). The convergence and convergence time of the SMC, thus its robustness can be improved with an appropriate choice of the sliding surface. Simulation tests are conducted in MATLAB to support the study..