Application to Stabilizing Control of Nonlinear Mobile Inverted Pendulum Using Sliding Mode Technique

J. Ocean Eng. Technol. 2009;23(2):1-7.

Choi Nak-Soon,Kang Ming-Tao,Kim Hak-Kyeong,Park Sang-Yong,Kim Sang-Bong

Dept. of Mechanical Eng. College of Eng. Pukyong National University,Institute of High Energy Physics,Dept. of Mechanical Eng. College of Eng. Pukyong National University,Department of Computer Science and Information BaekSeok Culture University,Dept

Keywords: Mobile inverted pendulum, Ackermann's formula, Sliding mode controller

Abstract

This paper presents a sliding mode controller based on Ackermann's formula and applies it to stabilizing a two-wheeled mobile inverted pendulum in equilibrium. The mobile inverted pendulum is a system with an inverted pendulum on a mobile cart. The dynamic modeling of the mobile inverted pendulum was established under the assumptions of a cart with no slip and a pendulum with only planar motion. The proposed sliding mode controller was based upon a class of nonlinear systems whose nonlinear part of the modeling can be linearly parameterized. The sliding surface was obtained in an explicit form using Ackermann's formula, and then a control law was designed from reachability conditions and made the sliding surface attractive to the equilibrium state of the mobile inverted pendulum. The proposed controller was implemented in a Microchip PIC16F877 micro-controller. The developed overall control system is described. The simulation and experimental results are presented to show the effectiveness of the modeling and controller.