Comparative analysis of the saturated sliding mode and LQR controllers applied to an inverted pendulum

Author

Torchani, Borhen ; Sellami, Anis ; M´hiri, R. ; Garcia, Gaetan

Author_Institution

Unit of Res. C3S, ESSTT, Tunis, Tunisia

fYear

2011

fDate

3-5 March 2011

Firstpage

1

Lastpage

6

Abstract

The balancing of an inverted pendulum with an horizontal motion of the cart is a classical problem treated in the area of control. In this paper we present briefly the inverted pendulum and its modeling. After that we describe two controllers to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The first is the sliding mode control (SMC) where we present the design methodology for a class of linear saturated systems. The second is the classic Linear Quadratic Regulator (LQR) control. The constraint of saturation is reported on the control vector. To highlight results we present a comparative analysis with a SMC and LQR controllers with saturation.

Keywords

control system analysis; control system synthesis; linear quadratic control; linear systems; motion control; nonlinear control systems; variable structure systems; LQR controllers; SMC; design methodology; horizontal motion; inverted pendulum; linear quadratic regulator; linear saturated systems; saturated sliding mode analysis; saturation constraint; sliding mode control; Equations; Mathematical model; Regulators; Robustness; Sliding mode control; State feedback; LQR regulator; Robustness; Saturation; Sliding Mode Control; Variable Structure Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Communications, Computing and Control Applications (CCCA), 2011 International Conference on

Conference_Location

Hammamet

Print_ISBN

978-1-4244-9795-9

Type

conf

DOI

10.1109/CCCA.2011.6031470

Filename

6031470