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Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm

by Ajit Kumar Sharma, Bharat Bhushan
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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 181 - Number 27
Year of Publication: 2018
Authors: Ajit Kumar Sharma, Bharat Bhushan
10.5120/ijca2018918044

Ajit Kumar Sharma, Bharat Bhushan . Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm. International Journal of Computer Applications. 181, 27 ( Nov 2018), 1-5. DOI=10.5120/ijca2018918044

@article{ 10.5120/ijca2018918044,
author = { Ajit Kumar Sharma, Bharat Bhushan },
title = { Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm },
journal = { International Journal of Computer Applications },
issue_date = { Nov 2018 },
volume = { 181 },
number = { 27 },
month = { Nov },
year = { 2018 },
issn = { 0975-8887 },
pages = { 1-5 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume181/number27/30105-2018918044/ },
doi = { 10.5120/ijca2018918044 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-07T01:07:18.555105+05:30
%A Ajit Kumar Sharma
%A Bharat Bhushan
%T Sliding Mode Control of Inverted Pendulum with Decoupling Algorithm
%J International Journal of Computer Applications
%@ 0975-8887
%V 181
%N 27
%P 1-5
%D 2018
%I Foundation of Computer Science (FCS), NY, USA
Abstract

This paper presents a decoupling algorithm of sliding mode control on inverted pendulum. The decoupled method provides a simple way to achieve asymptotic stability for a nth -order nonlinear systems. The system dynamics of SMC and inverted pendulum systems are encapsulated in the algorithm form and analysed by MATLAB Simulations. The convergence of the proposed sliding mode control is verified by Lyapunov function to prove the stability of system. Numerical simulations of designed SMC control strategy for inverted pendulum demonstrate faster convergence, reduced disturbance in control input and overall robust performance.

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Index Terms

Computer Science
Information Sciences

Keywords

Sliding Mode Control (SMC) Inverted Pendulum Decoupling Algorithm.

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