Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Application to Stabilizing Control of Nonlinear Mobile Inverted Pendulum Using Sliding Mode Technique

  • Choi, Nak-Soon (Dept. of Mechanical Eng., College of Eng., Pukyong National University) ;
  • Kang, Ming-Tao (Institute of High Energy Physics) ;
  • Kim, Hak-Kyeong (Dept. of Mechanical Eng., College of Eng., Pukyong National University) ;
  • Park, Sang-Yong (Department of Computer Science and Information, BaekSeok Culture University) ;
  • Kim, Sang-Bong (Dept. of Mechanical Eng., College of Eng., Pukyong National University)
  • Published : 2009.04.30
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Abstract

This paper presents a sliding mode controller based on Ackermann's formula and applies it to stabilizing a two-wheeled mobile inverted pendulum in equilibrium. The mobile inverted pendulum is a system with an inverted pendulum on a mobile cart. The dynamic modeling of the mobile inverted pendulum was established under the assumptions of a cart with no slip and a pendulum with only planar motion. The proposed sliding mode controller was based upon a class of nonlinear systems whose nonlinear part of the modeling can be linearly parameterized. The sliding surface was obtained in an explicit form using Ackermann's formula, and then a control law was designed from reachability conditions and made the sliding surface attractive to the equilibrium state of the mobile inverted pendulum. The proposed controller was implemented in a Microchip PIC16F877 micro-controller. The developed overall control system is described. The simulation and experimental results are presented to show the effectiveness of the modeling and controller.

Keywords

References

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