Adaptive PID with sliding mode control for the rotary inverted pendulum system

Abstract

In this paper, a novel adaptive PID with sliding mode control for the rotary inverted pendulum is proposed. The goal is to achieve system robustness against parameter variations and external disturbances. In this study, the three parameters of PID controller, proportional gain, integral gain, and derivative gain can be systematically obtained according to the adaptive law. Further reduction of the high frequency chattering in the controller is achieved by using the boundary layer technique. The proposed control method is applied to a rotary inverted pendulum control system. By using Lyapunov theorem, the stability and convergence of the proposed scheme is proven. Simulation results show that the chattering and the steady state error are eliminated and trajectory tracking is achieved effectively.

Control De Un Péndulo De Furuta. Una Revisión Del Estado Del Arte.

“…Para la estabilización se genera un control basado en energías (energy Shaping) y un control LQR, se realiza un estudio comparativo entre las estrategias de control y se logra demostrar la efectividad y robustez del controlador basado en el modelo de 4-dimensiones. En el año 2009, aparece en la literatura de la comunidad de control el trabajo realizado por T. C. Kuo, Y. J. Huang y B. W. Hong [21], donde se diseña un PID adaptativo por modos deslizantes y se logra convergencia y estabilidad, que es demostrada según el teorema de Lyapunov.…”

Stabilization of Real Inverted Pendulum Using Pole Separation Factor

“…Several control strategies based on the conventional control theory, modern control theory, and intelligent control have been used to control the inverted pendulum, such as PID controller [1,2], linear quadratic regulator (LQR) [3][4][5], fuzzy logic controller (FLC) [6][7][8]. In [9] Jia-Jan Wang introduced a simple scheme to design a conventional PID controller to stabilize and track three types of inverted pendulum.…”

A Hybrid Control with PID–Improved Sliding Mode for Flat-Top of Missile Electromechanical Actuator Systems

“…Cat presented a new adaptive control algorithm for robot motion tracking problem to overcome noises and large uncertainties using integral sliding surface with a neural network [29]. Kuo proposed a novel adaptive PID with sliding mode control for the rotary inverted pendulum to achieve system robustness against parameter variations and external disturbances [30]. Rubio designed a sliding mode controller to regulate robotic arms with unknown behaviors in the dead zone and gravity, and the sliding mode strategy was employed to compensate the unknown behaviors [31].…”