Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems

Ngo Phong Nguyen; Hyondong Oh; Yoonsoo Kim; Jun Moon; Jun Yang; Wen-Hua Chen

doi:10.1109/ACCESS.2020.3029095

IEEE Access (Jan 2020)

Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems

Ngo Phong Nguyen,
Hyondong Oh,
Yoonsoo Kim,
Jun Moon,
Jun Yang,
Wen-Hua Chen

Affiliations

Ngo Phong Nguyen: ORCiD; School of Mechanical, Aerospace and Nuclear Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea
Hyondong Oh: ORCiD; School of Mechanical, Aerospace and Nuclear Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, South Korea
Yoonsoo Kim: Department of Aerospace and Software Engineering, Gyeongsang National University, Jinju, South Korea
Jun Moon: ORCiD; Department of Electrical Engineering, Hanyang University, Seoul, South Korea
Jun Yang: ORCiD; Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, U.K.
Wen-Hua Chen: ORCiD; Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, U.K.

DOI: https://doi.org/10.1109/ACCESS.2020.3029095
Journal volume & issue: Vol. 8
pp. 185079 – 185092

Abstract

Read online

This paper considers the stabilization problem for under-actuated rotary inverted pendulum systems (RotIPS) via a fuzzy-based continuous sliding mode control approach. Various sliding mode control (SMC) methods have been proposed for stabilizing the under-actuated RotIPS. However, there are two main drawbacks of these SMC approaches. First, the existing SMCs have a discontinuous structure; therefore, their control systems suffer from the chattering problem. Second, a complete proof of closed-loop system stability has not been provided. To address these two limitations, we propose a fuzzy-based (continuous) super-twisting stabilization algorithm (FBSTSA) for the under-actuated RotIPS. We first introduce a new sliding surface, which is designed to resolve the under-actuation problem, by combining the fully-actuated (rotary arm) and the under-actuated (pendulum) variables to define one sliding surface. Then, together with the proposed sliding surface, we develop the FBSTSA, where the corresponding control gains are adjusted based on a fuzzy logic scheme. Note that the proposed FBSTSA is continuous owing to the modified super-twisting approach, which can reduce the chattering and enhance the control performance. With the proposed FBSTSA, we show that the sliding variable can reach zero in finite time and then the closed-loop system state converges to zero asymptotically. Various simulation and experimental results are provided to demonstrate the effectiveness of the proposed FBSTSA. In particular, (i) compared with the existing SMC approaches, chattering is alleviated and better stabilization is achieved; and (ii) the robustness of the closed-loop system (with the proposed FBSTSA) is guaranteed under system uncertainties and external disturbances.

Published in IEEE Access

ISSN: 2169-3536 (Online)
Publisher: IEEE
Country of publisher: United States
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering
Website: https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639

About the journal

Abstract

Keywords