Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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A Study on the SIIM Fuzzy Quasi-Sliding Mode Control for the Double Inverted Pendulum on a Cart

수레-2축역진자 시스템의 SIIM 퍼지 의사-슬라이딩 모드 제어에 관한 연구

  • 채창현 (금오공과대학교 전자공학부) ;
  • 김성로 (한화시스템 ILS 연구센터)
  • Received : 2018.01.03
  • Accepted : 2018.01.23
  • Published : 2018.02.28
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Abstract

In this paper, we propose the SIIM fuzzy Quasi-sliding mode controller for the system of a double inverted pendulum on a cart. Since it is difficult to handle this 6th-order system, we decoupled the entire system into three $2^{nd}$ order subsystem, and we designed the SIIM fuzzy Quasi-sliding mode controller for each subsystem, which was easy and did not require the derivation of the equivalent control. The stability of the entire system is guaranteed using Lyapunov function. The validity and robustness of the proposed controller are demonstrated through the computer simulation, and the results are compared with the results of former studies.

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References

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