Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm | Zendy

Ajit Kumar | Zendy; Bharat Bhushan | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm

Author(s) -

Ajit Kumar,

Bharat Bhushan

Publication year - 2018

Publication title -

international journal of computer applications

Language(s) - English

Resource type - Journals

ISSN - 0975-8887

DOI - 10.5120/ijca2018918044

Subject(s) - inverted pendulum , decoupling (probability) , computer science , algorithm , double inverted pendulum , mode (computer interface) , control theory (sociology) , control (management) , control engineering , artificial intelligence , nonlinear system , physics , operating system , quantum mechanics , engineering

This paper presents a decoupling algorithm of sliding mode control on inverted pendulum. The decoupled method provides a simple way to achieve asymptotic stability for a nth -order nonlinear systems. The system dynamics of SMC and inverted pendulum systems are encapsulated in the algorithm form and analysed by MATLAB Simulations. The convergence of the proposed sliding mode control is verified by Lyapunov function to prove the stability of system. Numerical simulations of designed SMC control strategy for inverted pendulum demonstrate faster convergence, reduced disturbance in control input and overall robust performance.

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research