An Application of Sliding Mode Control Scheme combined Energy-Based Method for Swinging Up Rotary Inverted Pendulum System

Abstract

Swing-up techniques for underactuated mechanical systems (for short, UMSs) are fundamental but interesting problems in the field of control engineering. This paper uses sliding mode control (for short, SMC) combined energy-based method (for short, EBM) to accomplish the objective of swing-up of the underactuated rotary inverted pendulum (for short, RIP)-a popular robot in classical control. Accordingly, we focus on designing SMC combined EBM (for short, SMCCEBM) for swinging up the pendulum from hanging-down position to upright position. Besides, after singing-up successfully, we also stabilize control of the system at the unstable equilibrium point by using linear quadratic regulator (for short, LQR). The plant and control schemes are modeled and studied in Matlab/Simulink. Simulation results illustrate the feasibility of the proposed SMCCEBM.