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.