一つのスライディングモード制御則による倒立振り子の振り上げと安定化

概要

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Recently, development of a controller design technique for nonlinear system is required to improve the control performance. Sliding mode control technique is of considerable interest due to its capability to deal with nonlinear system easily. But the design technique for nonlinear system is not established. In this study, the design technique of sliding mode controller for nonlinear and unstable system is investigated using a inverted pendulum system as an example. A simple controller executing both swing-up and stabilization of inverted pendulum is developed using the nonlinear model, to which the sliding mode control technique is applied. Especially, the nonlinear hyper-plane is derived from the energy balance. In addition, a nonlinear model observer is designed to estimate the velocity of the cart and the angular velocity of the pendulum from these displacements. Then, the performance of the developed controller and observer is confirmed by numerical simulations and experiments. And, it is found out that the chatter of the control input is suppressed using the same precise nonlinear model in the controller and the observer.
一般社団法人日本機械学会の論文
1999-12-25