Robust sliding mode control applied to double Inverted pendulum system

Journal Article · Thu Mar 05 00:00:00 EST 2009 · AIP Conference Proceedings

DOI:https://doi.org/10.1063/1.3106477· OSTI ID:21293326

Mahjoub, Sonia; Derbel, Nabil ^[1]; Mnif, Faical ^[2]

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1. Research unit on Intelligent Control, design and Optimization of complex Systems (ICOS) National engineering school of sfax, BP W, 3038 Sfax (Tunisia)
2. Department of Electrical and Computer Engineering Sultan Qaboos University, Muscat (Oman)

A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.

• OSTI ID: 21293326
• Journal Information: AIP Conference Proceedings, Vol. 1107, Issue 1; Conference: CISA'09: 2. Mediterranean conference on intelligent systems and automation, Zarzis (Tunisia), 23-25 Mar 2009; Other Information: DOI: 10.1063/1.3106477; (c) 2009 American Institute of Physics; Country of input: International Atomic Energy Agency (IAEA); ISSN 0094-243X
• Country of Publication: United States
• Language: English

Related Subjects

71 CLASSICAL AND QUANTUM MECHANICS
GENERAL PHYSICS
ASYMPTOTIC SOLUTIONS
DESIGN
DISTURBANCES
LAYERS
MODE CONTROL
NONLINEAR PROBLEMS
ROBOTS
SIMULATION
STABILITY
SURFACES