Simulation and Experiment of Sliding Control for Reaction Wheeled Inverted Pendulum

Abstract

In this paper, we apply a sliding mode control for reaction wheeled inverted pendulum. The stability of system under this method is guaranteed by Lyapunov criteria. Then, simulation results are shown to demonstrate the ability of the sliding controller. Due to the uncertainty of system parameters of experimental model, the better controller on simulation is regarded to have more robustness in stabilizing real system. Thence, the genetic algorithm is used to find the better sliding control parameters on simulation. These parameters are applied for the controller in experiment. Under this sliding controller, the real model is balanced well. Therefore, sliding method is proved to work well in both simulation and experiment on reaction wheeled inverted pendulum.

Keywords

• reaction wheeled inverted pendulum
• sliding control
• genetic algorithm
• inverted pendulum
• lyapunov criteria