Robust Adaptive Super-Twisting Sliding Mode Stability Control of Underactuated Rotational Inverted Pendulum With Experimental Validation

Abstract

In this study, an adaptive proportional-integral-derivative (PID) sliding mode control technique combined with the super-twisting algorithm is planned for the stabilization of rotational inverted pendulum in the appearance of exterior perturbation. The state-space model of rotational inverted pendulum in the existence of exterior disturbance is attained. Then, the super-twisting PID sliding mode controller is designed for finite time stability control of the considered underactuated control system. The upper bounds of perturbation are presumed to be unknown; consequently, the adaptive control procedure is taken into account to approximate the uncertain bounds of external disturbances. The stability control of rotational inverted pendulum system is verified by means of the Lyapunov stability theory. In order to validate the accuracy and efficiency of the recommended control technique, some simulation outcomes are prepared and compared with other existing scheme. Finally, the experimental results are implemented to show the success of the designed method.INDEX TERMS Robust control; adaptive tuning; underactuated systems; sliding mode control; inverted pendulum.

Modeling and Lyapunov-Based Nonlinear Control Strategies of Novel 2-D Inverted Magnetic Needle System: A Comparative Study

“…The study on the energy-based controller design for stabilizing and improving the performance of an inverted pendulum system was given in [34], [35]. Further, the robust performance of a robust adaptive super-twisting sliding mode controller, back-stepping sliding mode control, and cascaded fractional order controller performance of an inverted pendulum system was discussed in [36]- [38]. The magnetic needle in an inverted position is restricted to one degree of freedom in [39], [40].…”

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“…Qua đó, nhiều nghiên cứu đã được thực hiện ở mô hình trên. Ở tài liệu [1], việc áp dụng các giải thuật điều khiển bền vững trượt thích nghi với nhiễu. Tương tự, ở nghiên cứu [2], giải thuật quasi kết hợp điều khiển để điều khiển đối tượng cân bằng và ổn định tại vị trí thẳng đứng hướng lên.…”

Reduced-Order Observer-Based LQR Controller Design for Rotary Inverted Pendulum

“…Moreover, sensors are susceptible to noise interference, resulting in the acquisition of inaccurate measurements. A review of the existing literature shows that although a number of well-known control strategies, including neural NN-based system identification [26,27], fuzzy control (FC) [13,23], sliding mode control (SMC) [28], model-free control (MFC) [29], and hybrids of these, can mitigate the inherent problems of model-based control, but each has its own limitations. For example, NN often requires extensive experimental datasets for effective training and testing; to ensure robustness, FC relies on intricate qualitative logic rules derived from the relevant experience of the operator or designer; while SMC accelerates system stabilization, but often leads to undesirable oscillation.…”