Sliding mode controller design for rejecting disturbance of mobile inverted pendulum
| Type of publication: | Proceedings |
| Citation: | 347-353 |
| Booktitle: | Hội nghị Khoa Học và Công Nghệ lần thứ 11 |
| Series: | 11 |
| Year: | 2009 |
| Month: | October |
| Publisher: | Nhà xuất bản Đại Học Quốc Gia |
| Organization: | Trường Đại Học Bách Khoa - Đại Học Quốc Gia thành phố Hồ Chí Minh |
| Address: | 268 Lý Thường Kiệt, Quận 10, Tp Hồ Chí Minh |
| Abstract: | This paper proposes a robust controller design for a mobile inverted pendulum with a disturbance using sliding mode control. The mobile inverted pendulum is composed of an inverted pendulum and a chassis with two coaxial wheels. The linearized dynamic modeling of the mobile inverted pendulum under the condition of an inclined plane is derived. Based on the linearized modeling, a sliding mode controller is designed to stabilize the inverted pendulum at upright position under straight-line motion. A switching function is defined based on a sliding surface matrix. The sliding surface matrix is designed based on an optimal control theory to minimize the quadratic performance. A sliding mode controller is designed using reachability conditions to the sliding surface. The designed controller stabilizes the mobile inverted pendulum against disturbances. The simulation results are shown to exhibit the effectiveness of the proposed controller. |
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| Total mark: | 0 |
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