Sliding Mode Control for an Inverted-Triple Pendulum System Based on the H∞ Control Scheme
Sliding mode control
A stabilization control for an inverted-triple pendulum system connected in series is investigated by formulating a reduced-order model excluding the cart velocity, and by using a sliding mode controller (HSMC) based on the H∞ control theory, a conventional H∞ servo controller (HIC), and a frequency-shaped regulator (FSLQ) to compare the robust performance against a disturbance impulsively applied to the 3rd link. By applying the loop-shaped H∞ control scheme to the design of the switching plane of the sliding mode, the robust hyper-plane with both frequency characteristics and integral ones can be easily realized even to a multi-link system having the jw poles. The HSMC system designed here exhibits considerably excellent robustness as compared with other robust control systems beginning with the HIC and FSLQ systems.
Departmental Bulletin Paper