Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum

Muhammad Idrees; Shah Muhammad; Saif Ullah

Kybernetika (2019)

  • Volume: 55, Issue: 3, page 455-471
  • ISSN: 0023-5954

Abstract

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The rotary inverted pendulum (RIP) system is one of the fundamental, nonlinear, unstable and interesting benchmark systems in the field of control theory. In this paper, two nonlinear control strategies, namely hierarchical sliding mode control (HSMC) and decoupled sliding mode control (DSMC), are discussed to address the stabilization problem of the RIP system. We introduced HSMC with state-dependent switching gain for stabilization of the RIP system. Numerical simulations are performed to analyze the performance of the hierarchical sliding mode controllers with the decoupled sliding mode controller and the controller obtained from the pole placement technique. We proposed HSMC with state-dependent switching gain as it shows better performance as compared to HSMC with constant switching gain, DSMC, and the state feedback controller based on pole placement technique. The stability analysis of proposed HSMC is also discussed by using Lyapunov stability theory.

How to cite

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Idrees, Muhammad, Muhammad, Shah, and Ullah, Saif. "Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum." Kybernetika 55.3 (2019): 455-471. <http://eudml.org/doc/294702>.

@article{Idrees2019,
abstract = {The rotary inverted pendulum (RIP) system is one of the fundamental, nonlinear, unstable and interesting benchmark systems in the field of control theory. In this paper, two nonlinear control strategies, namely hierarchical sliding mode control (HSMC) and decoupled sliding mode control (DSMC), are discussed to address the stabilization problem of the RIP system. We introduced HSMC with state-dependent switching gain for stabilization of the RIP system. Numerical simulations are performed to analyze the performance of the hierarchical sliding mode controllers with the decoupled sliding mode controller and the controller obtained from the pole placement technique. We proposed HSMC with state-dependent switching gain as it shows better performance as compared to HSMC with constant switching gain, DSMC, and the state feedback controller based on pole placement technique. The stability analysis of proposed HSMC is also discussed by using Lyapunov stability theory.},
author = {Idrees, Muhammad, Muhammad, Shah, Ullah, Saif},
journal = {Kybernetika},
keywords = {rotary inverted pendulum; sliding mode control; dynamical systems},
language = {eng},
number = {3},
pages = {455-471},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum},
url = {http://eudml.org/doc/294702},
volume = {55},
year = {2019},
}

TY - JOUR
AU - Idrees, Muhammad
AU - Muhammad, Shah
AU - Ullah, Saif
TI - Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum
JO - Kybernetika
PY - 2019
PB - Institute of Information Theory and Automation AS CR
VL - 55
IS - 3
SP - 455
EP - 471
AB - The rotary inverted pendulum (RIP) system is one of the fundamental, nonlinear, unstable and interesting benchmark systems in the field of control theory. In this paper, two nonlinear control strategies, namely hierarchical sliding mode control (HSMC) and decoupled sliding mode control (DSMC), are discussed to address the stabilization problem of the RIP system. We introduced HSMC with state-dependent switching gain for stabilization of the RIP system. Numerical simulations are performed to analyze the performance of the hierarchical sliding mode controllers with the decoupled sliding mode controller and the controller obtained from the pole placement technique. We proposed HSMC with state-dependent switching gain as it shows better performance as compared to HSMC with constant switching gain, DSMC, and the state feedback controller based on pole placement technique. The stability analysis of proposed HSMC is also discussed by using Lyapunov stability theory.
LA - eng
KW - rotary inverted pendulum; sliding mode control; dynamical systems
UR - http://eudml.org/doc/294702
ER -

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