The Cart-Pole System.
Abstract:
This article presents a simple stabilizing control algorithm for a class of underactuated mechanical systems for two degrees of freedom (2DoF). In this respect, the adapt...Show MoreMetadata
Abstract:
This article presents a simple stabilizing control algorithm for a class of underactuated mechanical systems for two degrees of freedom (2DoF). In this respect, the adaptive sliding mode based strategy is proposed for the considered class. The controller, along with the adapted laws, is decided in such a way that the time derivative of a Lyapunov function grows negative. The proposed control technique has been applied to three classic benchmark 2DOF systems, the acrobot, pendoubt, and the cart-pole system. The effectiveness of the proposed strategy is proved in the light of simulation results for all said systems considered as an illustrative example.
The Cart-Pole System.
Published in: IEEE Access ( Volume: 9)
Department of Electrical Engineering, Capital University of Science and Technology, Islamabad, Pakistan
Fazal Ur Rehman received the M.Sc. and M.Phil. degrees in mathematics from Bahauddin Zakariya University, Multan, Pakistan, in 1986 and 1990, respectively, and the M.Eng. and Ph.D. degrees in control systems from the Department of Electrical Engineering, McGill University, Montreal, Canada, in 1993 and 1997, respectively.
He joined the Faculty of Electronic Engineering, Ghulam Ishaq Khan Institute of Engineering Sciences a...Show More
Fazal Ur Rehman received the M.Sc. and M.Phil. degrees in mathematics from Bahauddin Zakariya University, Multan, Pakistan, in 1986 and 1990, respectively, and the M.Eng. and Ph.D. degrees in control systems from the Department of Electrical Engineering, McGill University, Montreal, Canada, in 1993 and 1997, respectively.
He joined the Faculty of Electronic Engineering, Ghulam Ishaq Khan Institute of Engineering Sciences a...View more
Department of Electrical Engineering, Capital University of Science and Technology, Islamabad, Pakistan
Nadir Mehmood received the B.Sc. degree in electronics engineering from UET, Peshawar, in 2015, and the M.S. degree in electrical engineering from the Capital University of Science and Technology (CUST), Islamabad, Pakistan, in 2019. He is currently working as a Lab Engineer with the Electrical Engineering Department, CUST. His research interests include nonlinear control and sliding mode control.
Nadir Mehmood received the B.Sc. degree in electronics engineering from UET, Peshawar, in 2015, and the M.S. degree in electrical engineering from the Capital University of Science and Technology (CUST), Islamabad, Pakistan, in 2019. He is currently working as a Lab Engineer with the Electrical Engineering Department, CUST. His research interests include nonlinear control and sliding mode control.View more
Department of Electrical Engineering, Namal Institute Mianwali, Mianwali, Pakistan
Sami Ud Din (Member, IEEE) received the B.S. degree in electrical engineering from the Federal Urdu University of Arts, Science and Technology, Islamabad, Pakistan, in 2009, the M.S. degree in electronics engineering (Control Systems) from Muhammad Ali Jinnah University, Islamabad, in 2012, and the Ph.D. degree in electrical engineering with a specialization in control systems from the Capital University of Science and Te...Show More
Sami Ud Din (Member, IEEE) received the B.S. degree in electrical engineering from the Federal Urdu University of Arts, Science and Technology, Islamabad, Pakistan, in 2009, the M.S. degree in electronics engineering (Control Systems) from Muhammad Ali Jinnah University, Islamabad, in 2012, and the Ph.D. degree in electrical engineering with a specialization in control systems from the Capital University of Science and Te...View more
Department of Computer Science, COMSATS University Islamabad, Vehari Campus, Vehari, Pakistan
Muhammad Rafiq Mufti received the M.Sc. degree in computer science from Bahauddin Zakariya University, Multan, Pakistan, in 1994, the M.Sc. degree in computer engineering from CASE, University of Engineering and Technology, Taxila, Pakistan, in 2007, and the Ph.D. degree in electronic engineering from Mohammad Ali Jinnah University (MAJU), Islamabad, in 2012. He is currently a Faculty Member with COMSATS University Islama...Show More
Muhammad Rafiq Mufti received the M.Sc. degree in computer science from Bahauddin Zakariya University, Multan, Pakistan, in 1994, the M.Sc. degree in computer engineering from CASE, University of Engineering and Technology, Taxila, Pakistan, in 2007, and the Ph.D. degree in electronic engineering from Mohammad Ali Jinnah University (MAJU), Islamabad, in 2012. He is currently a Faculty Member with COMSATS University Islama...View more
Department of Computer Science, Bahauddin Zakariya University, Multan, Pakistan
Humaira Afzal received the M.Sc. degree (Hons.) in computer science from Bahauddin Zakariya University, Multan, Pakistan, in 1997, the M.Sc. degree in computer engineering from CASE, University of Engineering and Technology, Taxila, Pakistan, in 2010, and the Ph.D. degree in computer science from the School of Electrical Engineering and Computer Science, University of Bradford, U.K., in August 2014. She is currently worki...Show More
Humaira Afzal received the M.Sc. degree (Hons.) in computer science from Bahauddin Zakariya University, Multan, Pakistan, in 1997, the M.Sc. degree in computer engineering from CASE, University of Engineering and Technology, Taxila, Pakistan, in 2010, and the Ph.D. degree in computer science from the School of Electrical Engineering and Computer Science, University of Bradford, U.K., in August 2014. She is currently worki...View more
Contents Department of Electrical Engineering, Capital University of Science and Technology, Islamabad, Pakistan
Fazal Ur Rehman received the M.Sc. and M.Phil. degrees in mathematics from Bahauddin Zakariya University, Multan, Pakistan, in 1986 and 1990, respectively, and the M.Eng. and Ph.D. degrees in control systems from the Department of Electrical Engineering, McGill University, Montreal, Canada, in 1993 and 1997, respectively.
He joined the Faculty of Electronic Engineering, Ghulam Ishaq Khan Institute of Engineering Sciences and Technology, Pakistan, as an Assistant Professor, in January 1998, where he worked as an Assistant Professor, from 1998 to 2001, and as an Associate Professor, from 2002 to 2006. He joined Mohammad Ali Jinnah University, Islamabad, Pakistan, as a Professor, and the HOD of the Department of Electronic Engineering, in January 2007. His research interests include nonlinear control systems, nonholonomic control systems, multi-rate digital signal processing, and optimal control.
Fazal Ur Rehman received the M.Sc. and M.Phil. degrees in mathematics from Bahauddin Zakariya University, Multan, Pakistan, in 1986 and 1990, respectively, and the M.Eng. and Ph.D. degrees in control systems from the Department of Electrical Engineering, McGill University, Montreal, Canada, in 1993 and 1997, respectively.
He joined the Faculty of Electronic Engineering, Ghulam Ishaq Khan Institute of Engineering Sciences and Technology, Pakistan, as an Assistant Professor, in January 1998, where he worked as an Assistant Professor, from 1998 to 2001, and as an Associate Professor, from 2002 to 2006. He joined Mohammad Ali Jinnah University, Islamabad, Pakistan, as a Professor, and the HOD of the Department of Electronic Engineering, in January 2007. His research interests include nonlinear control systems, nonholonomic control systems, multi-rate digital signal processing, and optimal control.View more
Department of Electrical Engineering, Capital University of Science and Technology, Islamabad, Pakistan
Nadir Mehmood received the B.Sc. degree in electronics engineering from UET, Peshawar, in 2015, and the M.S. degree in electrical engineering from the Capital University of Science and Technology (CUST), Islamabad, Pakistan, in 2019. He is currently working as a Lab Engineer with the Electrical Engineering Department, CUST. His research interests include nonlinear control and sliding mode control.
Nadir Mehmood received the B.Sc. degree in electronics engineering from UET, Peshawar, in 2015, and the M.S. degree in electrical engineering from the Capital University of Science and Technology (CUST), Islamabad, Pakistan, in 2019. He is currently working as a Lab Engineer with the Electrical Engineering Department, CUST. His research interests include nonlinear control and sliding mode control.View more
Department of Electrical Engineering, Namal Institute Mianwali, Mianwali, Pakistan
Sami Ud Din (Member, IEEE) received the B.S. degree in electrical engineering from the Federal Urdu University of Arts, Science and Technology, Islamabad, Pakistan, in 2009, the M.S. degree in electronics engineering (Control Systems) from Muhammad Ali Jinnah University, Islamabad, in 2012, and the Ph.D. degree in electrical engineering with a specialization in control systems from the Capital University of Science and Technology, Islamabad, in 2019.
He was with the Department of Electrical Engineering, The University of Lahore, Islamabad, till October 2019, as an Assistant Professor. He is currently with the Department of Electrical Engineering, Namal Institute Mianwali, Mianwali, Pakistan. His research interests include non-linear control, sliding mode control, under-actuated systems, chaotic systems, robotics, antenna design, and power systems.
Sami Ud Din (Member, IEEE) received the B.S. degree in electrical engineering from the Federal Urdu University of Arts, Science and Technology, Islamabad, Pakistan, in 2009, the M.S. degree in electronics engineering (Control Systems) from Muhammad Ali Jinnah University, Islamabad, in 2012, and the Ph.D. degree in electrical engineering with a specialization in control systems from the Capital University of Science and Technology, Islamabad, in 2019.
He was with the Department of Electrical Engineering, The University of Lahore, Islamabad, till October 2019, as an Assistant Professor. He is currently with the Department of Electrical Engineering, Namal Institute Mianwali, Mianwali, Pakistan. His research interests include non-linear control, sliding mode control, under-actuated systems, chaotic systems, robotics, antenna design, and power systems.View more
Department of Computer Science, COMSATS University Islamabad, Vehari Campus, Vehari, Pakistan
Muhammad Rafiq Mufti received the M.Sc. degree in computer science from Bahauddin Zakariya University, Multan, Pakistan, in 1994, the M.Sc. degree in computer engineering from CASE, University of Engineering and Technology, Taxila, Pakistan, in 2007, and the Ph.D. degree in electronic engineering from Mohammad Ali Jinnah University (MAJU), Islamabad, in 2012. He is currently a Faculty Member with COMSATS University Islamabad, Vehari Campus, Pakistan. His research interests include sliding mode control, fractional control, neural networks, cognitive radio networks, and network security.
Muhammad Rafiq Mufti received the M.Sc. degree in computer science from Bahauddin Zakariya University, Multan, Pakistan, in 1994, the M.Sc. degree in computer engineering from CASE, University of Engineering and Technology, Taxila, Pakistan, in 2007, and the Ph.D. degree in electronic engineering from Mohammad Ali Jinnah University (MAJU), Islamabad, in 2012. He is currently a Faculty Member with COMSATS University Islamabad, Vehari Campus, Pakistan. His research interests include sliding mode control, fractional control, neural networks, cognitive radio networks, and network security.View more
Department of Computer Science, Bahauddin Zakariya University, Multan, Pakistan
Humaira Afzal received the M.Sc. degree (Hons.) in computer science from Bahauddin Zakariya University, Multan, Pakistan, in 1997, the M.Sc. degree in computer engineering from CASE, University of Engineering and Technology, Taxila, Pakistan, in 2010, and the Ph.D. degree in computer science from the School of Electrical Engineering and Computer Science, University of Bradford, U.K., in August 2014. She is currently working as an Assistant Professor with the Department of Computer Science, Bahauddin Zakariya University. Her research interests include MAC protocol design for the cognitive radio network, performance modeling, queuing theory, network security, software engineering, and sliding mode control.
Humaira Afzal received the M.Sc. degree (Hons.) in computer science from Bahauddin Zakariya University, Multan, Pakistan, in 1997, the M.Sc. degree in computer engineering from CASE, University of Engineering and Technology, Taxila, Pakistan, in 2010, and the Ph.D. degree in computer science from the School of Electrical Engineering and Computer Science, University of Bradford, U.K., in August 2014. She is currently working as an Assistant Professor with the Department of Computer Science, Bahauddin Zakariya University. Her research interests include MAC protocol design for the cognitive radio network, performance modeling, queuing theory, network security, software engineering, and sliding mode control.View more