Model free sliding mode stabilizing control of a real rotary inverted pendulum

Abstract

ArticleModel free sliding mode stabilizing control of a real rotary inverted pendulum _ Ilhami Yigit Abstract Inverted pendulum systems, because of highly nonlinear, coupled, and unstable dynamic behaviour, are excellent experimental platforms for testing new developed control algorithms. This study explores nonlinear modelling, simulation and sliding mode stabilizing control of a real rotary inverted pendulum in detail. For simulation purposes only, the system was modelled in a nonlinear state space form including the servomotor dynamics. In the light of the simulation results, a rotary inverted pendulum system was designed and manufactured. For a certain quality level of desired output, benefits of the sliding mode control of the system without using an equivalent control signal by selecting a proper smoothing function were shown. This model free approach can be used to satisfy a need especially for practical control applications in industry to a certain level, encouraging practical control engineers to use sliding mode control, who have no ability to model a system or no sufficient time for this, or encounter very complex nonlinear system models in many cases. Comparisons of the theoretical and experimental results demonstrate that the state equations describe the dynamics of the system satisfactorily, and that robust and accurate balancing of the pendulum can be achieved by using model free sliding mode control with sigmoid smoothing function.

Experimental verification of model-free active vibration control approach using virtually controlled object

“…Sliding mode control (SMC) has been used for model-free vibration control systems due to its robustness against the uncertainty of the controlled objects. For example, the effectiveness of the sigmoid function for appropriate smoothing was verified by experimentally investigating a rotary inverted pendulum (Yiǧit, 2017). Regarding a smartly structured cantilever beam, the primary and secondary resonance peaks were selectively suppressed (Parameswaran et al, 2015).…”

Novel Sliding Mode Vibration Controller With Simple Model-Free Design and Compensation for Actuator’s Uncertainty

“…A significant problem that sometimes occurs in SMC systems is chattering due to a discontinuous switching input [36] [44]. To prevent chattering, the signum function ( ) is smoothed by an approximation using the hyperbolic tangent [45]- [48]. Consequently, (39) shows the control input used in the simulations and experiments.…”

Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum

“…Several control techniques and applications in the fields of sliding mode control for the RIP system have been published in various journals and conference proceedings [5,18,19,51]. In spite of all these advances, still there is need to work more in this field.…”

“…Kurode used sliding modes for the swing-up and stabilization of the RIP [17]. Yigit used a model-free sliding mode approach to stabilize the RIP system [51] and Zhang used nonlinear SMC to stabilize the RIP while a fuzzy-PD regulator was applied to stabilize the rotary pendulum by Oltean [29]. Khanesar proposed fuzzy sliding mode control for the stabilization of the RIP systems [18].…”