CFP last date
20 December 2024
Call for Paper
January Edition
IJCA solicits high quality original research papers for the upcoming January edition of the journal. The last date of research paper submission is 20 December 2024

Submit your paper
Know more
The week's pick
Responsive image
Improved Shuffled Frog Leaping Algorithm with Self-Adaptive Shuffling for Fuzzy Logic PD+G Controller Optimization in Robotic Manipulators

Duc Hoang Nguyen
Random Articles
Reseach Article

Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm

by Ajit Kumar Sharma, Bharat Bhushan
journal cover thumbnail

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 181 - Number 27
Year of Publication: 2018
Authors: Ajit Kumar Sharma, Bharat Bhushan
10.5120/ijca2018918044

Ajit Kumar Sharma, Bharat Bhushan . Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm. International Journal of Computer Applications. 181, 27 ( Nov 2018), 1-5. DOI=10.5120/ijca2018918044

@article{ 10.5120/ijca2018918044,
author = { Ajit Kumar Sharma, Bharat Bhushan },
title = { Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm },
journal = { International Journal of Computer Applications },
issue_date = { Nov 2018 },
volume = { 181 },
number = { 27 },
month = { Nov },
year = { 2018 },
issn = { 0975-8887 },
pages = { 1-5 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume181/number27/30105-2018918044/ },
doi = { 10.5120/ijca2018918044 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-07T01:07:18.555105+05:30
%A Ajit Kumar Sharma
%A Bharat Bhushan
%T Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm
%J International Journal of Computer Applications
%@ 0975-8887
%V 181
%N 27
%P 1-5
%D 2018
%I Foundation of Computer Science (FCS), NY, USA
Abstract

This paper presents a decoupling algorithm of sliding mode control on inverted pendulum. The decoupled method provides a simple way to achieve asymptotic stability for a nth -order nonlinear systems. The system dynamics of SMC and inverted pendulum systems are encapsulated in the algorithm form and analysed by MATLAB Simulations. The convergence of the proposed sliding mode control is verified by Lyapunov function to prove the stability of system. Numerical simulations of designed SMC control strategy for inverted pendulum demonstrate faster convergence, reduced disturbance in control input and overall robust performance.

References
  1. K. J. Åström and K. Furuta, "Swinging up a pendulum by energy control,"Automatica, vol. 36, no. 2, pp. 287–295, Feb. 2000.
  2. C. W. Anderson, "Learning to control an inverted pendulum using neural networks," IEEE Control Systems Magazine, vol. 9, no. 3, pp. 31–37, Apr. 1989
  3. A. D. Kuo, "The six determinants of gait and the inverted pendulum analogy: A dynamic walking perspective," Human Movement Science, vol. 26, no. 4, pp. 617–656, Aug. 2007.
  4. J. H. Park and K. D. Kim, "Biped robot walking using gravity compensated inverted pendulum mode and computed torque control," in Proceedings. 1998 IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE).
  5. S. Jeong and T. Takahashi, "Wheeled inverted pendulum type assistant robot: Inverted mobile, standing, and sitting motions," in 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers (IEEE), 2007.
  6. N. Shiroma, O. Matsumoto, S. Kajita, and K. Tani, "Cooperative behavior of a wheeled inverted pendulum for object transportation," in Proceedings of 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers (IEEE).
  7. N. Muskinja and B. Tovornik, "Swinging up and stabilization of a real inverted pendulum," IEEE Transactions on Industrial Electronics, vol. 53, no. 2, pp. 631–639, Apr. 2006.
  8. B. Ata and R. Coban, "Artificial Bee Colony algorithm based linear quadratic optimal controller design for a Nonlinear inverted pendulum," International Journal of Intelligent Systems and Applications in Engineering, vol. 3, no. 1, p. 1, Jan. 2015.
  9. W.-D. Chang, R.-C. Hwang, and J.-G. Hsieh, "A self-tuning PID control for a class of nonlinear systems based on the Lyapunov approach," Journal of Process Control, vol. 12, no. 2, pp. 233–242, Feb. 2002.
  10. K. Yoshida, "Swing-up control of an inverted pendulum by energybased methods," in Proceedings of the 1999 American Control Conference, Institute of Electrical and Electronics Engineers (IEEE).
  11. A. Siuka and M. Schöberl, "Applications of energy based control methods for the inverted pendulum on a cart," Robotics and Autonomous Systems, vol. 57, no. 10, pp. 1012–1017, Oct. 2009.
  12. L.-X. Wang, Adaptive fuzzy systems and control: Design and stability analysis. United Kingdom: Prentice Hall Professional Technical Reference, 1994.
  13. A. Ghosh, B. Subudhi, and T. R. Krishnan, "Robust proportional– integral–derivative compensation of an inverted cart–pendulum system: An experimental study," IET Control Theory & Applications, vol. 6, no. 8, pp. 1145–1152, May 2012.
  14. O. Boubaker, "The inverted pendulum benchmark in Nonlinear control theory: A survey," International Journal of Advanced Robotic Systems, p. 1, 2013.
  15. J.-C. Lo and Y.-H. Kuo, "Decoupled fuzzy sliding-mode control," IEEE Transactions on Fuzzy Systems, vol. 6, no. 3, pp. 426–435, 1998.
  16. N. Adhikary and C. Mahanta, "Integral backstepping sliding mode control for underactuated systems: Swing-up and stabilization of the Cart–Pendulum system," ISA Transactions, vol. 52, no. 6, pp. 870– 880, Nov. 2013.
  17. S. Mahjoub, F. Mnif, and N. Derbel, "Second-order sliding mode approaches for the control of a class of underactuated systems," International Journal of Automation and Computing, vol. 12, no. 2, pp. 134–141, Apr. 2015.
  18. V. Utkin, "Variable structure systems with sliding modes," IEEE Transactions on Automatic Control, vol. 22, no. 2, pp. 212–222, Apr. 1977.
  19. V. I. I. Utkin, Sliding modes in control and optimization. Berlin: Springer-Verlag Berlin and Heidelberg GmbH & Co. K, 1992.
Index Terms

Computer Science
Information Sciences

Keywords

Sliding Mode Control (SMC) Inverted Pendulum Decoupling Algorithm.

Powered by PhDFocusTM