한국해양공학회지 (Journal of Ocean Engineering and Technology)

  • 제23권2호
  • /
  • Pages.1-7
  • /
  • 2009
  • /
  • 1225-0767(pISSN)
  • /
  • 2287-6715(eISSN)
한국해양공학회 (Korean Society of Ocean Engineers)
권호 표지

Application to Stabilizing Control of Nonlinear Mobile Inverted Pendulum Using Sliding Mode Technique

  • Choi, Nak-Soon (Dept. of Mechanical Eng., College of Eng., Pukyong National University) ;
  • Kang, Ming-Tao (Institute of High Energy Physics) ;
  • Kim, Hak-Kyeong (Dept. of Mechanical Eng., College of Eng., Pukyong National University) ;
  • Park, Sang-Yong (Department of Computer Science and Information, BaekSeok Culture University) ;
  • Kim, Sang-Bong (Dept. of Mechanical Eng., College of Eng., Pukyong National University)
  • 발행 : 2009.04.30
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper presents a sliding mode controller based on Ackermann's formula and applies it to stabilizing a two-wheeled mobile inverted pendulum in equilibrium. The mobile inverted pendulum is a system with an inverted pendulum on a mobile cart. The dynamic modeling of the mobile inverted pendulum was established under the assumptions of a cart with no slip and a pendulum with only planar motion. The proposed sliding mode controller was based upon a class of nonlinear systems whose nonlinear part of the modeling can be linearly parameterized. The sliding surface was obtained in an explicit form using Ackermann's formula, and then a control law was designed from reachability conditions and made the sliding surface attractive to the equilibrium state of the mobile inverted pendulum. The proposed controller was implemented in a Microchip PIC16F877 micro-controller. The developed overall control system is described. The simulation and experimental results are presented to show the effectiveness of the modeling and controller.

키워드

참고문헌

  1. Ackermann, J. and Utkin, V. (1994). 'Sliding Mode Control Design Based on Ackermann's Formula', Proceedings of the 33rd Conference on Decision and Control, pp 3622-3627
  2. Ackermann, J. and Utkin, V. (1998). 'Sliding Mode Control Design Based on Ackermann'S Formula', IEEE Transaction Automatic Control, Vol 43, No 2, pp 234-237 https://doi.org/10.1109/9.661072
  3. Chen, C.S. and Chen, W.L. (1998). 'Robust Adaptive Slidingmode Control Using Fuzzy Modeling for an Invertedpendulum System', IEEE Transaction Industrial Electronics, Vol 45, No 2, pp 297-306 https://doi.org/10.1109/41.681229
  4. Grasser, F., D'Arrigo, A., Colombi, S. and Rufer, A.C. (2002). 'JOE: A Mobile, Inverted Pendulum', IEEE Transaction Industrial Electronics, Vol 49, No 1, pp 107-114 https://doi.org/10.1109/41.982254
  5. Kim, J.Y. (2006). 'Controller Design for an Autonomous Underwater Vehicle Using Estimated Hydrodynamic Coefficients', J. of Ocean Engineering and Technology, Vol 20, No 6, pp 7-17
  6. Lee, P.M., Jeon, B.H. and Hong, S.W. (1998). 'Quasi-sliding Mode Control of an Autonomous Underwater Vehicle with Long Sampling Interval', J. of Ocean Engineering and Technology, Vol 12, No 2, pp 130-138
  7. Necsulescu, D. (2002). Mechatronics, Prentice Hall
  8. Wu, J., Pu, D. and Ding, H. (2007). 'Adaptive Robust Motion Control of SISO Nonlinear Systems with Implementation on Linear Motors', Journal of Mechatronics, Vol 17, No 4-5, pp 263-270 https://doi.org/10.1016/j.mechatronics.2006.12.001