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Fuzzy-based super-twisting sliding mode stabilization control for under-actuated rotary inverted pendulum systems
journal contribution
posted on 2021-02-18, 11:17 authored by Ngo Phong Nguyen, Hyondong Oh, Yoonsoo Kim, Jun Moon, Jun YangJun Yang, Wen-Hua ChenWen-Hua ChenThis 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.
Funding
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
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
IEEE AccessVolume
8Pages
185079 - 185092Publisher
Institute of Electrical and Electronics Engineers (IEEE)Version
- 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: http://creativecommons.org/licenses/by/4.0/Acceptance date
2020-09-27Publication date
2020-10-06Copyright date
2020eISSN
2169-3536Publisher version
Language
- en
Depositor
Prof Wen-Hua Chen. Deposit date: 17 February 2021Usage metrics
Categories
No categories selectedKeywords
Stability analysisClosed loop systemsAsymptotic stabilitySliding mode controlLicensesAerospace controlfinite-time stabilityfuzzy-based super-twisting sliding mode controlrotary inverted pendulum systemstabilization controlScience & TechnologyTechnologyComputer Science, Information SystemsEngineering, Electrical & ElectronicTelecommunicationsComputer ScienceEngineeringSCHEMEDESIGNORDERInformation and Computing Sciences