Kalman Filtering Sliding Mode Controller Design for Stabilizing and Trajectory Tracking of Inverted Pendulum

2020 ◽  
pp. 387-404
Author(s):  
Akshaya Kumar Patra ◽  
Alok Kumar Mishra ◽  
Anuja Nanda ◽  
Lalit Mohan Satapathy ◽  
Amaresh Gantayet ◽  
...  
Keyword(s):  
Kalman Filtering ◽  
Trajectory Tracking ◽  
Inverted Pendulum ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller

scholarly journals H2 Sliding Mode Controller Design for Mobile Inverted Pendulum System

2018 ◽  
pp. 17-29
Keyword(s):  
Mathematical Model ◽  
Inverted Pendulum ◽  
Controller Design ◽  
Sliding Mode ◽  
Upright Position ◽  
Sliding Mode Controller ◽  
Pendulum System ◽  
System Parameters ◽  
Inverted Pendulum System ◽  
The Mathematical Model

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.

scholarly journals A Fractional-Order Sliding Mode Controller Design for Trajectory Tracking Control of An Unmanned Aerial Vehicle

2020 ◽  
Vol 26 (4) ◽  
pp. 4-10
Author(s):  
Abdullah Basci ◽  
Adnan Derdiyok ◽  
Kaan Can ◽  
Kamil Orman
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fractional Order ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Nonlinear Controller ◽  
Trajectory Tracking Control ◽  
Parameter Variations ◽  
Aerial Vehicle

In this paper, a fractional-order sliding mode controller (FOSMC) is designed and applied to a four rotor unmanned aerial vehicle (Quadrotor) to perform trajectory tracking for different time-varying references. Because quadrotor’s nonlinear system dynamics are effected by external disturbances and parameter variations easily, the FOSMC is used as a nonlinear controller and utilized its disturbance rejection characteristics to keep quadrotor on desired trajectory as well as overcome parameter variations. In order to indicate the priority of the FOSMC, an integer-order SMC (IOSMC) is also applied to quadrotor for the same references. The experimental results show that FOSMC is better than IOSMC in terms of error elimination and is good at dealing with parameter variations occurred while tracking the desired trajectory

Sign in / Sign up

Export Citation Format

Share Document