An adaptive sliding mode observer for inverted pendulum under mass variation and disturbances with experimental validation

Jmel, Ines; Dimassi, Habib; Hadj-Said, Salim; M’Śahli, Faouzi

doi:10.1016/j.isatra.2020.02.029

Cited by 25 publications

(18 citation statements)

References 24 publications

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“…Other than the nonlinear characteristic of the system, the inverted pendulum also has other issues to be solved: parameter uncertainty [39][40] and disturbance [41]. Parameter uncertainty is found when the pendulum has a changing mass [42], and disturbance is often found in the real system in the form of external force, friction, or noise. Some examples of disturbance are friction force and inertia of the system.…”

Section: Introductionmentioning

confidence: 99%

Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

Ma’arif

Márquez-Vera²,

Mahmoud³

et al. 2021

Journal of Robotics and Control

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The inverted pendulum system is highly popular in control system applications and has the characteristics of unstable, nonlinear, and fast dynamics. A nonlinear controller is needed to control a system with these characteristics. In addition, there are disturbances and parameter uncertainty issues to be solved in the inverted pendulum system. Therefore, this study uses a nonlinear controller, which is the backstepping sliding mode control. The controller is robust to parameter uncertainty and disturbances so that it is suitable for controlling an inverted pendulum system. Based on testing with step and sine reference signals without interference, the controller can stabilize the system well and has a fast response. In testing with disturbances and mass uncertainty, the backstepping sliding mode controller is robust against these changes and able to make the system reach the reference value. Compared with sliding mode control, backstepping sliding mode control has a better and more robust response to disturbances and parameter uncertainty.

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Section: Introductionmentioning

confidence: 99%

Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

Ma’arif

Márquez-Vera²,

Mahmoud³

et al. 2021

Journal of Robotics and Control

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“…Simulation results highlighted the effectiveness of the developed observer. More recently, the robustness of the latter adaptive observer has been improved in [41] by adding a sliding mode term. e proposed adaptive observer in [41] was also combined with an auxiliary high gain observer to satisfy the so-called observer matching condition and applied for the inverted pendulum system to solve the problem of simultaneous estimation of states, unknown parameter (mass variation parameter), and friction disturbances with experimental validation.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Observer-Based Sliding Mode Control for a Two-Wheeled Self-Balancing Robot under Terrain Inclination and Disturbances

Jmel

Dimassi

Hadj-Said

et al. 2021

Mathematical Problems in Engineering

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This paper investigates an output feedback sliding mode control scheme for a two-wheeled self-balancing robot under terrain inclination and disturbances. First of all, an adaptive high-gain observer is designed for the robot to estimate, simultaneously, the unmeasured states and the unknown terrain inclination angle which appears nonlinearly in the dynamics of the wheeled robot, using the only measured linear and angular positions. Then, the estimated states and the reconstructed unknown inclination angle are used by an appropriate continuously implemented sliding mode controller whose the design is based on the boundary layer approximation approach to reduce the chattering phenomenon. The objective of the proposed robust controller is to ensure the tracking control of the two-wheeled robot despite the unknown terrain inclination and the presence of friction disturbances. The stability of the adaptive observer-based output feedback system is established through a Lyapunov analysis, and it is inspired from sliding modes theory. Numerical simulations results highlight the effectiveness of the proposed tracking control scheme applied on two-wheeled self-balancing robot subject to terrain inclination even in the presence of unavailable disturbances.

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“…In [28], a robust LQR controller is presented based on the adaptive fuzzy logic control technique mixed with neural network in the target of stability and balancing control of RIP system. In [29], an observer for inverted pendulum system is designed based on the adaptive technique using auxiliary variable. On the other hand, an auxiliary observer is used for approximation of the external disturbance and an adaptive observer is applied for estimation of states and uncertain parameters.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Super-twisting Sliding Mode Stability Control for Underactuated Rotary Inverted Pendulum with Experimental Validation

Mofid

Alattas

Mobayen

2021

Preprint

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In this paper, an adaptive proportional-integral-derivative (PID) sliding mode control method combined with super-twisting algorithm is designed for the stabilization control of rotary inverted pendulum system in the appearance of exterior perturbation. The state-space model of rotary inverted pendulum in the presence of exterior disturbance is obtained. Then, the super-twisting PID sliding mode controller is designed for finite time stability control of this underactuated control system. The upper bounds of perturbation are presumed to be unknown; accordingly, the adaptive control procedure is taken to approximate the uncertain bound of the external disturbances. The stability control of rotary inverted pendulum system is proved by means of the Lyapunov stability theory. In order to validate accuracy and efficiency of the recommended control technique, some simulation outcomes are prepared and compared with other existing method. Moreover, experimental results are implemented to show the success of the proposed method.

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An adaptive sliding mode observer for inverted pendulum under mass variation and disturbances with experimental validation

Cited by 25 publications

References 24 publications

Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

Adaptive Observer-Based Sliding Mode Control for a Two-Wheeled Self-Balancing Robot under Terrain Inclination and Disturbances

Robust Adaptive Super-twisting Sliding Mode Stability Control for Underactuated Rotary Inverted Pendulum with Experimental Validation

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