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MIMO sliding mode control of a robotic "pick and place" system modeled as an inverted pendulum on a moving cart

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3 Author(s)
E. Doskocz ; Dept. of Electr. & Comput. Eng., Alabama Univ., Huntsville, AL, USA ; Y. Shtessel ; C. Katsinis

Nonlinear output tracking of arbitrary inputs in a multi-input, multi-output (MIMO) system with matched nonlinearities and disturbances is considered in sliding modes. A sliding mode controller, designed using the method of control hierarchy, is proposed for a robotic "pick and place" system modeled as an inverted pendulum mounted on a moving cart. Two arbitrary profiles for positioning pendulum angle and cart position serve as inputs to the controller. A brief background on sliding mode control and the system's dynamic equations is also provided along with a presentation of simulation results. In addition, a description of a novel distributed computer system-the simultaneous optical multiprocessor exchange bus-that could be applied to control of the system is included.

Published in:

System Theory, 1998. Proceedings of the Thirtieth Southeastern Symposium on

Date of Conference:

8-10 Mar 1998