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H2 Sliding Mode Controller Design for Mobile Inverted Pendulum System | ||
| IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING | ||
| Article 2, Volume 18, Issue 2, 2018, Pages 17-29 PDF (429.08 K) | ||
| Authors | ||
| Hazem I. Ali1; Mustafa J. Kadhim2 | ||
| 1Control and Systems Eng. Dept. at University of Technology | ||
| 2[email protected] | ||
| Abstract | ||
| The design of an H2 sliding mode controller for a mobile inverted pendulum system is proposed in this paper. This controller is conducted to stabilize the mobile inverted pendulum in the upright position and drive the system to a desired position. Lagrangian approach is used to develop the mathematical model of the system. The H2 controller is combined with the sliding mode control to give a better performance compared to the case of using each of the above controllers alone. The results show that the proposed controller can stabilize the system and drive the output to a given desired input. Furthermore, variations in system parameters and disturbance are considered to illustrate the robustness of the proposed controller. | ||
| Keywords | ||
| H2 statefeedback; Optimal control; Mobile inverted pendulum system; Robust control; sliding mode control | ||
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