Robust Stabilizing Control for the Electromechanical Triple-Link Inverted Pendulum System

摘要

This paper presents the results of the survey on the stabilization of the Triple-Link Inverted Pendulum as underactuated system. The mathematical model of the coupled electromechanical system is presented in the standard robotics format, where the geometry of its links is taken into account, further, the DC motor is considered. For the pursued aim, Attractive Ellipsoid Method is used in order to design robust stabilizing controller for electromechanical systems in a general form. In order to compare the performance for the suggested methodology, different robust Sliding Mode Control strategies are designed. The obtained algorithms are tested in numerical simulation.