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


YAZICI A. , KARAMANCIOĞLU A.

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, vol.220, pp.315-321, 2006 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 220
  • Publication Date: 2006
  • Doi Number: 10.1243/09596518jsce223
  • Title of Journal : PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
  • Page Numbers: pp.315-321

Abstract

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.