A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum
This paper aims to develop a novel hierarchical recursive nonsingular terminal sliding mode controller (HRNTSMC), which is designed to stabilize the inverted pendulum (IP). In contrast to existing hierarchical sliding mode controllers (HSMC), the HRNTSMC significantly reduces the chattering problem...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-12-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/12/12/462 |
| _version_ | 1827576021118877696 |
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| author | Hiep Dai Le Tamara Nestorović |
| author_facet | Hiep Dai Le Tamara Nestorović |
| author_sort | Hiep Dai Le |
| collection | DOAJ |
| description | This paper aims to develop a novel hierarchical recursive nonsingular terminal sliding mode controller (HRNTSMC), which is designed to stabilize the inverted pendulum (IP). In contrast to existing hierarchical sliding mode controllers (HSMC), the HRNTSMC significantly reduces the chattering problem in control input and improves the convergence speed of errors. In the HRNTSMC design, the IP system is first decoupled into pendulum and cart subsystems. Subsequently, a recursive nonsingular terminal sliding mode controller (RNTSMC) surface is devised for each subsystem to enhance the error convergence rate and attenuate chattering effects. Following this design, the HRNTSMC surface is constructed by the linear combination of the RNTSMC surfaces. Ultimately, the control law of the HRNTSMC is synthesized using the Lyapunov theorem to ensure that the system states converge to zero within a finite time. By invoking disturbances estimation, a linear extended state observer (LESO) is developed for the IP system. To validate the effectiveness, simulation results, including comparison with a conventional hierarchical sliding mode control (CHSMC) and a hierarchical nonsingular terminal sliding mode control (HNTSMC) are presented. These results clearly showcase the excellent performance of this approach, which is characterized by its strong robustness, fast convergence, high tracking accuracy, and reduced chattering in control input. |
| first_indexed | 2024-03-08T21:05:11Z |
| format | Article |
| id | doaj.art-104501ba075249b3a5680f899f2712ff |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-08T21:05:11Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-104501ba075249b3a5680f899f2712ff2023-12-22T13:44:56ZengMDPI AGActuators2076-08252023-12-01121246210.3390/act12120462A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted PendulumHiep Dai Le0Tamara Nestorović1Mechanics of Adaptive Systems Department, Ruhr-Universität Bochum, 44801 Bochum, GermanyMechanics of Adaptive Systems Department, Ruhr-Universität Bochum, 44801 Bochum, GermanyThis paper aims to develop a novel hierarchical recursive nonsingular terminal sliding mode controller (HRNTSMC), which is designed to stabilize the inverted pendulum (IP). In contrast to existing hierarchical sliding mode controllers (HSMC), the HRNTSMC significantly reduces the chattering problem in control input and improves the convergence speed of errors. In the HRNTSMC design, the IP system is first decoupled into pendulum and cart subsystems. Subsequently, a recursive nonsingular terminal sliding mode controller (RNTSMC) surface is devised for each subsystem to enhance the error convergence rate and attenuate chattering effects. Following this design, the HRNTSMC surface is constructed by the linear combination of the RNTSMC surfaces. Ultimately, the control law of the HRNTSMC is synthesized using the Lyapunov theorem to ensure that the system states converge to zero within a finite time. By invoking disturbances estimation, a linear extended state observer (LESO) is developed for the IP system. To validate the effectiveness, simulation results, including comparison with a conventional hierarchical sliding mode control (CHSMC) and a hierarchical nonsingular terminal sliding mode control (HNTSMC) are presented. These results clearly showcase the excellent performance of this approach, which is characterized by its strong robustness, fast convergence, high tracking accuracy, and reduced chattering in control input.https://www.mdpi.com/2076-0825/12/12/462adaptive sliding mode controluncertaintiesinverted pendulumnonsingular terminal sliding modeunder-actuated systemhierarchical sliding mode |
| spellingShingle | Hiep Dai Le Tamara Nestorović A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum Actuators adaptive sliding mode control uncertainties inverted pendulum nonsingular terminal sliding mode under-actuated system hierarchical sliding mode |
| title | A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum |
| title_full | A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum |
| title_fullStr | A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum |
| title_full_unstemmed | A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum |
| title_short | A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum |
| title_sort | novel hierarchical recursive nonsingular terminal sliding mode control for inverted pendulum |
| topic | adaptive sliding mode control uncertainties inverted pendulum nonsingular terminal sliding mode under-actuated system hierarchical sliding mode |
| url | https://www.mdpi.com/2076-0825/12/12/462 |
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