Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems
This paper considers the stabilization problem for under-actuated rotary inverted pendulum systems (RotIPS) via a fuzzy-based continuous sliding mode control approach. Various sliding mode control (SMC) methods have been proposed for stabilizing the under-actuated RotIPS. However, there are two main...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9214529/ |
| _version_ | 1811210759450918912 |
|---|---|
| author | Ngo Phong Nguyen Hyondong Oh Yoonsoo Kim Jun Moon Jun Yang Wen-Hua Chen |
| author_facet | Ngo Phong Nguyen Hyondong Oh Yoonsoo Kim Jun Moon Jun Yang Wen-Hua Chen |
| author_sort | Ngo Phong Nguyen |
| collection | DOAJ |
| description | This paper considers the stabilization problem for under-actuated rotary inverted pendulum systems (RotIPS) via a fuzzy-based continuous sliding mode control approach. Various sliding mode control (SMC) methods have been proposed for stabilizing the under-actuated RotIPS. However, there are two main drawbacks of these SMC approaches. First, the existing SMCs have a discontinuous structure; therefore, their control systems suffer from the chattering problem. Second, a complete proof of closed-loop system stability has not been provided. To address these two limitations, we propose a fuzzy-based (continuous) super-twisting stabilization algorithm (FBSTSA) for the under-actuated RotIPS. We first introduce a new sliding surface, which is designed to resolve the under-actuation problem, by combining the fully-actuated (rotary arm) and the under-actuated (pendulum) variables to define one sliding surface. Then, together with the proposed sliding surface, we develop the FBSTSA, where the corresponding control gains are adjusted based on a fuzzy logic scheme. Note that the proposed FBSTSA is continuous owing to the modified super-twisting approach, which can reduce the chattering and enhance the control performance. With the proposed FBSTSA, we show that the sliding variable can reach zero in finite time and then the closed-loop system state converges to zero asymptotically. Various simulation and experimental results are provided to demonstrate the effectiveness of the proposed FBSTSA. In particular, (i) compared with the existing SMC approaches, chattering is alleviated and better stabilization is achieved; and (ii) the robustness of the closed-loop system (with the proposed FBSTSA) is guaranteed under system uncertainties and external disturbances. |
| first_indexed | 2024-04-12T05:01:04Z |
| format | Article |
| id | doaj.art-218656568b944c51a79296ff6f4dd6e3 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-12T05:01:04Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-218656568b944c51a79296ff6f4dd6e32022-12-22T03:47:00ZengIEEEIEEE Access2169-35362020-01-01818507918509210.1109/ACCESS.2020.30290959214529Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum SystemsNgo Phong Nguyen0https://orcid.org/0000-0003-4944-545XHyondong Oh1https://orcid.org/0000-0002-1051-9477Yoonsoo Kim2Jun Moon3https://orcid.org/0000-0002-8877-9519Jun Yang4https://orcid.org/0000-0002-4290-9568Wen-Hua Chen5https://orcid.org/0000-0003-3356-2889School of Mechanical, Aerospace and Nuclear Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, South KoreaSchool of Mechanical, Aerospace and Nuclear Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan, South KoreaDepartment of Aerospace and Software Engineering, Gyeongsang National University, Jinju, South KoreaDepartment of Electrical Engineering, Hanyang University, Seoul, South KoreaDepartment of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, U.K.Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough, U.K.This paper considers the stabilization problem for under-actuated rotary inverted pendulum systems (RotIPS) via a fuzzy-based continuous sliding mode control approach. Various sliding mode control (SMC) methods have been proposed for stabilizing the under-actuated RotIPS. However, there are two main drawbacks of these SMC approaches. First, the existing SMCs have a discontinuous structure; therefore, their control systems suffer from the chattering problem. Second, a complete proof of closed-loop system stability has not been provided. To address these two limitations, we propose a fuzzy-based (continuous) super-twisting stabilization algorithm (FBSTSA) for the under-actuated RotIPS. We first introduce a new sliding surface, which is designed to resolve the under-actuation problem, by combining the fully-actuated (rotary arm) and the under-actuated (pendulum) variables to define one sliding surface. Then, together with the proposed sliding surface, we develop the FBSTSA, where the corresponding control gains are adjusted based on a fuzzy logic scheme. Note that the proposed FBSTSA is continuous owing to the modified super-twisting approach, which can reduce the chattering and enhance the control performance. With the proposed FBSTSA, we show that the sliding variable can reach zero in finite time and then the closed-loop system state converges to zero asymptotically. Various simulation and experimental results are provided to demonstrate the effectiveness of the proposed FBSTSA. In particular, (i) compared with the existing SMC approaches, chattering is alleviated and better stabilization is achieved; and (ii) the robustness of the closed-loop system (with the proposed FBSTSA) is guaranteed under system uncertainties and external disturbances.https://ieeexplore.ieee.org/document/9214529/Asymptotic stabilityfinite-time stabilityfuzzy-based super-twisting sliding mode controlrotary inverted pendulum systemstabilization control |
| spellingShingle | Ngo Phong Nguyen Hyondong Oh Yoonsoo Kim Jun Moon Jun Yang Wen-Hua Chen Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems IEEE Access Asymptotic stability finite-time stability fuzzy-based super-twisting sliding mode control rotary inverted pendulum system stabilization control |
| title | Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems |
| title_full | Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems |
| title_fullStr | Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems |
| title_full_unstemmed | Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems |
| title_short | Fuzzy-Based Super-Twisting Sliding Mode Stabilization Control for Under-Actuated Rotary Inverted Pendulum Systems |
| title_sort | fuzzy based super twisting sliding mode stabilization control for under actuated rotary inverted pendulum systems |
| topic | Asymptotic stability finite-time stability fuzzy-based super-twisting sliding mode control rotary inverted pendulum system stabilization control |
| url | https://ieeexplore.ieee.org/document/9214529/ |
| work_keys_str_mv | AT ngophongnguyen fuzzybasedsupertwistingslidingmodestabilizationcontrolforunderactuatedrotaryinvertedpendulumsystems AT hyondongoh fuzzybasedsupertwistingslidingmodestabilizationcontrolforunderactuatedrotaryinvertedpendulumsystems AT yoonsookim fuzzybasedsupertwistingslidingmodestabilizationcontrolforunderactuatedrotaryinvertedpendulumsystems AT junmoon fuzzybasedsupertwistingslidingmodestabilizationcontrolforunderactuatedrotaryinvertedpendulumsystems AT junyang fuzzybasedsupertwistingslidingmodestabilizationcontrolforunderactuatedrotaryinvertedpendulumsystems AT wenhuachen fuzzybasedsupertwistingslidingmodestabilizationcontrolforunderactuatedrotaryinvertedpendulumsystems |