chen_09214529.pdf (2.05 MB)

Fuzzy-based super-twisting sliding mode stabilization control for under-actuated rotary inverted pendulum systems

Download (2.05 MB)
journal contribution
posted on 18.02.2021, 11:17 by Ngo Phong Nguyen, Hyondong Oh, Yoonsoo Kim, Jun Moon, Jun Yang, Wen-Hua Chen
This paper considers the stabilization problem for under-actuated rotary inverted pendulum systems (RotIPS) via a fuzzy-based continuous sliding mode control approach. Various sliding mode control (SMC) methods have been proposed for stabilizing the under-actuated RotIPS. However, there are two main drawbacks of these SMC approaches. First, the existing SMCs have a discontinuous structure; therefore, their control systems suffer from the chattering problem. Second, a complete proof of closedloop system stability has not been provided. To address these two limitations, we propose a fuzzy-based (continuous) super-twisting stabilization algorithm (FBSTSA) for the under-actuated RotIPS. We first introduce a new sliding surface, which is designed to resolve the under-actuation problem, by combining the fully-actuated (rotary arm) and the under-actuated (pendulum) variables to define one sliding surface. Then, together with the proposed sliding surface, we develop the FBSTSA, where the corresponding control gains are adjusted based on a fuzzy logic scheme. Note that the proposed FBSTSA is continuous owing to the modified super-twisting approach, which can reduce the chattering and enhance the control performance. With the proposed FBSTSA, we show that the sliding variable can reach zero in finite time and then the closed-loop system state converges to zero asymptotically. Various simulation and experimental results are provided to demonstrate the effectiveness of the proposed FBSTSA. In particular, (i) compared with the existing SMC approaches, chattering is alleviated and better stabilization is achieved; and (ii) the robustness of the closed-loop system (with the proposed FBSTSA) is guaranteed under system uncertainties and external disturbances.


National Research Foundation of Korea (NRF) grant funded by the Ministry of Science and ICT under Grant NRF-2017R1A5A1015311

Basic Science Research Program through the National Research Foundation of Korea (NRF) grant funded by the Ministry of Education under Grant 2020R1A6A1A03040570



  • Aeronautical, Automotive, Chemical and Materials Engineering


  • Aeronautical and Automotive Engineering

Published in

IEEE Access




185079 - 185092


Institute of Electrical and Electronics Engineers (IEEE)


VoR (Version of Record)

Publisher statement

This is an Open Access Article. It is published by IEEE under the Creative Commons Attribution 4.0 Unported Licence (CC BY). Full details of this licence are available at:

Acceptance date


Publication date


Copyright date







Prof Wen-Hua Chen. Deposit date: 17 February 2021