Browse > Article

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)
Publication Information
Journal of Ocean Engineering and Technology / v.23, no.2, 2009 , pp. 1-7 More about this Journal
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
Mobile inverted pendulum; Ackermann's formula; Sliding mode controller;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Ackermann, J. and Utkin, V. (1994). 'Sliding Mode Control Design Based on Ackermann's Formula', Proceedings of the 33rd Conference on Decision and Control, pp 3622-3627
2 Lee, P.M., Jeon, B.H. and Hong, S.W. (1998). 'Quasi-sliding Mode Control of an Autonomous Underwater Vehicle with Long Sampling Interval', J. of Ocean Engineering and Technology, Vol 12, No 2, pp 130-138
3 Necsulescu, D. (2002). Mechatronics, Prentice Hall
4 Ackermann, J. and Utkin, V. (1998). 'Sliding Mode Control Design Based on Ackermann'S Formula', IEEE Transaction Automatic Control, Vol 43, No 2, pp 234-237   DOI   ScienceOn
5 Wu, J., Pu, D. and Ding, H. (2007). 'Adaptive Robust Motion Control of SISO Nonlinear Systems with Implementation on Linear Motors', Journal of Mechatronics, Vol 17, No 4-5, pp 263-270   DOI   ScienceOn
6 Kim, J.Y. (2006). 'Controller Design for an Autonomous Underwater Vehicle Using Estimated Hydrodynamic Coefficients', J. of Ocean Engineering and Technology, Vol 20, No 6, pp 7-17   과학기술학회마을   ScienceOn
7 Chen, C.S. and Chen, W.L. (1998). 'Robust Adaptive Slidingmode Control Using Fuzzy Modeling for an Invertedpendulum System', IEEE Transaction Industrial Electronics, Vol 45, No 2, pp 297-306   DOI   ScienceOn
8 Grasser, F., D'Arrigo, A., Colombi, S. and Rufer, A.C. (2002). 'JOE: A Mobile, Inverted Pendulum', IEEE Transaction Industrial Electronics, Vol 49, No 1, pp 107-114   DOI   ScienceOn