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http://dx.doi.org/10.14775/ksmpe.2018.17.1.116

A Study on the SIIM Fuzzy Quasi-Sliding Mode Control for the Double Inverted Pendulum on a Cart  

Chai, Chang-Hyun (School of Electronic Engineering, KNUT.)
Kim, Seong-Ro (ILS Research Center, Hanwha Systems)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.17, no.1, 2018 , pp. 116-121 More about this Journal
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.
Keywords
Double Inverted Pendulum; SIIM Fuzzy; Quasi-Sliding Mode;
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Times Cited By KSCI : 2  (Citation Analysis)
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