Stabilization of the cart pole system: by sliding mode control

Carlos Aguilar-Ibáñez, Julio Mendoza-Mendoza, Jorge Dávila

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

© 2014, The Author(s). This paper presents a control strategy designed as a combination of a PD controller and a twisting-like algorithm to stabilize the damped cart pole system, provided that the pendulum is initially placed within the upper-half plane. To develop the strategy, the original system is transformed into a four-order chain of integrator form, where the damping force is included through an additional nonlinear perturbation. The strategy consists of simultaneously bringing the position and velocity of the pendulum to within a compact region by applying the PD controller. Meanwhile, the system state variables are brought to the origin by the twisting-like algorithm. The corresponding convergence analysis is done using several Lyapunov functions. The control strategy is illustrated with numerical simulations.
Original languageAmerican English
Pages (from-to)2769-2777
Number of pages9
JournalNonlinear Dynamics
DOIs
StatePublished - 1 Dec 2014

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Sliding mode control
Sliding Mode Control
Pendulums
Pole
Poles
Stabilization
Pendulum
Controllers
Control Strategy
Lyapunov functions
Controller
Nonlinear Perturbations
Damping
Half-plane
Convergence Analysis
Damped
Lyapunov Function
Computer simulation
Numerical Simulation
Strategy

Cite this

Aguilar-Ibáñez, Carlos ; Mendoza-Mendoza, Julio ; Dávila, Jorge. / Stabilization of the cart pole system: by sliding mode control. In: Nonlinear Dynamics. 2014 ; pp. 2769-2777.
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Stabilization of the cart pole system: by sliding mode control. / Aguilar-Ibáñez, Carlos; Mendoza-Mendoza, Julio; Dávila, Jorge.

In: Nonlinear Dynamics, 01.12.2014, p. 2769-2777.

Research output: Contribution to journalArticle

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