Adaptive stabilizing and tracking control for a nonlinear inverted-pendulum system via sliding-mode technique
Rong-Jong Wai
Li-Jung Chang
Dept. of Electr. Eng., Yuan Ze Univ., Chung Li, Taiwan;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: April 2006
Volume: 53,
Issue: 2
On page(s): 674- 692
ISSN: 0278-0046
INSPEC Accession Number: 8875925
Digital Object Identifier: 10.1109/TIE.2006.870680
Current Version Published: 2006-04-03
Abstract
Since the system behaviors of a dual-axis inverted-pendulum mechanism including actuator dynamics are highly nonlinear, it is difficult to design a suitable control system that realizes real-time stabilization and accurate tracking control at all times. In this paper, an adaptive sliding-mode control system is implemented to control a dual-axis inverted-pendulum mechanism that is driven by permanent magnet synchronous motors. First, the energy conservation principle is adopted to build a mathematical model of the motor-mechanism-coupled system. Moreover, an adaptive sliding-mode control system is developed for stabilizing and tracking control of the dual-axis inverted-pendulum system, where an adaptive algorithm is investigated to relax the requirement of the bound of lumped uncertainty in the traditional sliding-mode control. In addition, numerical simulation and experimental results show that the proposed control scheme provides high-performance dynamic characteristics and is robust with regard to parametric variations, various reference trajectories, and different initial states.
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