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Swing up and arm trajectory tracking of the furuta pendulum with sliding mode control
, Article 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017, 25 October 2017 through 27 October 2017 ; 2018 , Pages 346-351 ; 9781538657034 (ISBN) ; Nikzad Goltapeh, A ; Sharif University of Technology
Abstract
In this paper, the swing-up problem of the Furuta pendulum has been solved by introducing a new combined method based on the frequency response, and the sliding mode method. Furthermore, a trajectory tracking controller has been introduced and applied to the Furuta pendulum; which the pendulum remained regulated at the upward position, while the arm tracks a desired time-varying trajectory. The hierarchical sliding mode control (HSMC) approach has been employed to achieve the mentioned goals. The Furuta system is made up of two subsystems. Based on this physical structure, the hierarchical structure of the sliding surfaces is designed as follows: first, the sliding surface of each subsystem...