A Hybrid Energy Sliding Mode Controller for the Rotary Inverted Pendulum

Van Anh Nguyen, Duc Binh Pham, Duy Thi Pham, Ngoc Tam Bui, Quy Thinh Dao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The rotary inverted pendulum (RIP) is a classical and underactuated system with two degrees of freedom. In this paper, we concentrate on addressing the swing up and stabilization of the rotary inverted pendulum, which are its two fundamental issues. In the beginning, we proceed to model the system. The two problems described previously are then solved by an energy sliding mode controller (ESMC). The effectiveness of the controller has also been verified through simulation results under the influence of external disturbance.

Original languageEnglish
Title of host publicationAdvances in Engineering Research and Application - Proceedings of the International Conference on Engineering Research and Applications, ICERA 2022
EditorsDuy Cuong Nguyen, Ngoc Pi Vu, Banh Tien Long, Horst Puta, Kai-Uwe Sattler
PublisherSpringer Science and Business Media Deutschland GmbH
Pages34-41
Number of pages8
ISBN (Print)9783031221996
DOIs
Publication statusPublished - 2023
Event5th International Conference on Engineering Research and Applications, ICERA 2022 - Thai Nguyen, Viet Nam
Duration: 2022 Dec 12022 Dec 2

Publication series

NameLecture Notes in Networks and Systems
Volume602 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference5th International Conference on Engineering Research and Applications, ICERA 2022
Country/TerritoryViet Nam
CityThai Nguyen
Period22/12/122/12/2

Keywords

  • Energy-based control
  • Rotary inverted pendulum
  • Sliding mode control
  • Stabilization control
  • Swing up control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Signal Processing
  • Computer Networks and Communications

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