tailieunhanh - A method of sliding mode control of cart and pole system

This paper presents a method of using Sliding Mode Control (SMC) for Cart and Pole system. The stability of controller is proved through using Lyapunov function and simulations. A genetic algorithm (GA) program is used to optimize controlling parameters. | TAÏP CHÍ PHAÙT TRIEÅN KH&CN, TAÄP 18, SOÁ K6- 2015 A method of sliding mode control of cart and pole system Nguyen Van Dong Hai1 Nguyen Minh Tam2 Mircea Ivanescu1 1 University of Craiova, Romania 2 Ho Chi Minh City University of Technology and Education, Vietnam (Manuscript Received on July 15, 2015, Manuscript Revised August 30, 2015) ABSTRACT This paper presents a method of using Sliding Mode Control (SMC) for Cart and Pole system. The stability of controller is proved through using Lyapunov function and simulations. A genetic algorithm (GA) program is used to optimize controlling parameters. The GA-based parameters prove good-quality of control through Matlab/Simulink Simulation. Keywords: Sliding Mode Control, Cart and Pole, Inverted Pendulum, Genetic Algorithm, Matlab/Simulink. 1. INTRODUCTION Cart and Pole system is a popular classical non-linear model used in most laboratories in universities for testing controlling algorithm. Morever, it is a SIMO system in which just one input control must stabilize two outputs: position of cart and angle of pendulum. Many control algorithms were proved to work well on this model [1]. Beside other kinds of control, the nonlinear control, especially Sliding Mode Control (SMC), depends on nonlinear structure of system. So, the stability of system is ensured. Cesar Aguilar [2] set new variable including both Cart’s position and Pendulum’s angle, neglecting some components in calculating and trying to transform dynamic equation to appropriate form. But it just operated well when the neglected component was not remarkable. Reference [3] introduced other way to set sliding mode for a similar model, the Rotary Inverted Pendulum but did not prove the stability by mathematical methods. Reference [4] and [5] respectively introduced integral SMC and hierarchial SMC applied for Cart and Pole system. But [4] did not prove stability by mathematics or examples in Matlab/Simulink. This paper presents a new and simple .