Journal
JOURNAL OF VIBRATION AND CONTROL
Volume 29, Issue 5-6, Pages 1431-1446Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/10775463211064022
Keywords
Backstepping control; sliding mode control; finite-time convergence; robust stability; inverted-pendulum
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This paper studies the finite-time stabilization of the disturbed and uncertain rotary-inverted-pendulum system using the adaptive backstepping sliding mode control method. A novel command filter is proposed to enhance the control strategy, and the unknown upper bound of the external disturbances and uncertainties is approximated using the adaptive control technique. The simulations and experimental results validate the effectiveness and efficiency of the proposed method.
In this paper, the finite-time stabilization of the disturbed and uncertain rotary-inverted-pendulum system is studied based on the adaptive backstepping sliding mode control procedure. For this purpose, first of all, the dynamical equation of the rotary-inverted-pendulum system is obtained in the state-space form in the existence of external disturbances and model uncertainties with unknown bound. Afterward, a novel command filter is defined to enhance the control strategy by consideration of a virtual control input. Therefore, the differential signal is replaced by the output of the command filter to reduce the complicated computing in the control process. Hence, the finite-time convergence of the sliding surface to the origin is attested by using the backstepping sliding mode control scheme according to the Lyapunov theory. Besides, the unknown upper bound of the exterior perturbation and uncertainty is approximated providing the adaptive control technique. Finally, simulations and experimental results are done to demonstrate the impression and proficiency of the suggested method.
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