Robust sliding mode control applied to double inverted pendulum system

Sonia Mahjoub; Faiçal Mnif; Nabil Derbel

doi:10.1063/1.3106477

Robust sliding mode control applied to double inverted pendulum system

Sonia Mahjoub^*, Faiçal Mnif, Nabil Derbel

^*Corresponding author for this work

Electrical and Computer Engineering

Research output: Contribution to journal › Conference article › peer-review

1 Citation (Scopus)

Abstract

A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.

Original language	English
Pages (from-to)	222-228
Number of pages	7
Journal	AIP Conference Proceedings
Volume	1107
DOIs	https://doi.org/10.1063/1.3106477
Publication status	Published - 2009
Event	2nd Mediterranean Conference on Intelligent Systems and Automation, CISA 2009 - Zarzis, Tunisia Duration: Mar 23 2009 → Mar 25 2009

Keywords

Manipulators
Mismatched perturbation
Non linear system
Robust control
Underactuated systems
Variable structure systems

ASJC Scopus subject areas

General Physics and Astronomy

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10.1063/1.3106477

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title = "Robust sliding mode control applied to double inverted pendulum system",

abstract = "A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.",

keywords = "Manipulators, Mismatched perturbation, Non linear system, Robust control, Underactuated systems, Variable structure systems",

author = "Sonia Mahjoub and Fai{\c c}al Mnif and Nabil Derbel",

year = "2009",

doi = "10.1063/1.3106477",

language = "English",

volume = "1107",

pages = "222--228",

journal = "AIP Conference Proceedings",

issn = "0094-243X",

publisher = "American Institute of Physics Publising LLC",

note = "2nd Mediterranean Conference on Intelligent Systems and Automation, CISA 2009 ; Conference date: 23-03-2009 Through 25-03-2009",

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TY - JOUR

T1 - Robust sliding mode control applied to double inverted pendulum system

AU - Mahjoub, Sonia

AU - Mnif, Faiçal

AU - Derbel, Nabil

PY - 2009

Y1 - 2009

N2 - A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.

AB - A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.

KW - Manipulators

KW - Mismatched perturbation

KW - Non linear system

KW - Robust control

KW - Underactuated systems

KW - Variable structure systems

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DO - 10.1063/1.3106477

M3 - Conference article

AN - SCOPUS:65649087237

SN - 0094-243X

VL - 1107

SP - 222

EP - 228

JO - AIP Conference Proceedings

JF - AIP Conference Proceedings

T2 - 2nd Mediterranean Conference on Intelligent Systems and Automation, CISA 2009

Y2 - 23 March 2009 through 25 March 2009

ER -

Robust sliding mode control applied to double inverted pendulum system

Abstract

Keywords

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