A linear-programming-based sliding-mode control design for stabilization of a double-inverted pendulum

YAZICI, AHMET; KARAMANCIOĞLU, ABDURRAHMAN

doi:10.1243/09596518jsce223

A linear-programming-based sliding-mode control design for stabilization of a double-inverted pendulum

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, cilt.220, ss.315-321, 2006 (SCI-Expanded)

Yayın Türü: Makale / Tam Makale
Cilt numarası: 220
Basım Tarihi: 2006
Doi Numarası: 10.1243/09596518jsce223
Dergi Adı: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
Sayfa Sayıları: ss.315-321
Eskişehir Osmangazi Üniversitesi Adresli: Evet

Özet

A linear programming approach for computation of sliding-mode control inputs is proposed. The method is applied to a double-inverted pendulum system and it takes input and approaching rate constraints into account. The derivation procedure reveals that it is generalizable to a large class of dynamic systems and can take a more general set of constraints into account. The approach preserves the robustness property of the sliding-mode control and enriches it by adding the features of the linear programming. The main feature incorporated into the sliding-mode control is the optimal update of the control inputs under a set of linear constraints. The constraints are specified to meet the sliding-mode conditions and to improve its undesired chattering behaviour.