TRAJECTORY TRACKING AND BALANCING CONTROL OF ROTARY INVERTED PENDULUM SYSTEM USING QUASI-SLIDING MODE CONTROL

Neha Gupta∗ and Lillie Dewan∗

Keywords

Rotary inverted pendulum (RIP), sliding mode control, chatteringin sliding mode control, Lyapunov stability

Abstract

This article proposes a new quasi-sliding mode control based scheme for the trajectory tracking and balancing control of rotary-invertedpendulum (RIP) system. The underactuation makes the RIP highly nonlinear and requires strong control efforts; therefore, sliding mode control (SMC), which has simple control structure and demonstrates high performance in complicated nonlinear system is used for the control of RIP system. To eliminate the chattering, control discontinuity is smoothened in a boundary layer neighbouring the switching surface by the proposed sigmoid-based quasi-sliding mode method, and the performance is compared with the existing quasisliding mode methods. Convergence of the proposed controller has been ensured by Lyapunov stability analysis.

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