NDLI: Orbital Stabilization of Inverted-Pendulum Systems via Coupled Sliding-Mode Control

Content Provider	IEEE Xplore Digital Library
Author	Mun-Soo Park Dongkyoung Chwa
Copyright Year	1982
Abstract	In this paper, we propose a coupled sliding-mode control (SMC) method for the periodic orbit generation and the robust exponential orbital stabilization of inverted-pendulum systems. We first design an SMC law to force a coupled sliding surface to be reached in finite time, such that the zero dynamics are generated in the form of a second-order undamped and forced nonlinear differential equation. Through the stability analysis, it is shown that there exist exponentially stable periodic solutions of the resulting zero dynamics (i.e., limit cycles around either the upright or downward equilibrium), even in the presence of the matched disturbance. Second, we design a target orbit stabilization control law by further introducing an auxiliary control law to the designed SMC law. This auxiliary control law utilizes the general integral of the autonomous zero dynamics, which preserves its zero value along the given target orbit, and thus, it can contribute to the exponential stabilization of the general integral. To demonstrate the validity of the proposed method, both the periodic orbit generation and target orbit stabilization control of the cart-pendulum, as an example among inverted-pendulum systems, are performed in numerical simulations.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	3556
Ending Page	3570
Page Count	15
File Size	561624
File Format	PDF
ISSN	02780046
Volume Number	56
Issue Number	9
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-09-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sliding mode control Control systems Legged locomotion Robust control Differential equations Mechanical systems Mechanical variables control Couplings Limit-cycles Torque control second-order undamped and forced nonlinear differential equations Coupled sliding-mode control (SMC) coupled sliding surface inverted-pendulum systems robust exponential orbital stabilization
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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