A Motion Control of a Two Degree of Freedom Inverted Pendulum with Passive Joint using Discrete-time Sliding Observer Based VSS Controller

슬라이딩 관측기를 갖는 가변구조제어기에 의한 도립진자의 운동제어

This paper presents the digital implementation of an optimal and robust VSS controller with sliding observer. Firstly, a discrete-time VSS control law which enables the system state to move into a sliding sector where the closed-loop system is stable is designed. Then optimal control theory is used to design an optimal sliding sector. Secondly, a sliding observer which provide robust state estimation against model-plant mismatches due to parameter uncertainties is designed for the sampled-data multivariable systems. Finally, modified sliding observer which effectively reduce chattering of state variables in state estimation was proposed. The proposed scheme was applied 10 a two degree of freedom inverted pendulum with passive joint to verify robust motion control. Computer simulation results confirm the viability of the proposed observer-based controller.