Journal article
A. Ma’arif, Marco Antonio Márquez Vera, Magdi Sadek Mahmoud, S. Ladaci, Abdullah Çakan, Jonattan Niño Parada
Journal of Robotics and Control (JRC), 2021
Journal of Robotics and Control (JRC), 2021
Semantic Scholar
DOI
Cite
Cite
APA
Click to copy
Ma’arif, A., Vera, M. A. M., Mahmoud, M. S., Ladaci, S., Çakan, A., & Parada, J. N. (2021). Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty. Journal of Robotics and Control (JRC).
Chicago/Turabian
Click to copy
Ma’arif, A., Marco Antonio Márquez Vera, Magdi Sadek Mahmoud, S. Ladaci, Abdullah Çakan, and Jonattan Niño Parada. “Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty.” Journal of Robotics and Control (JRC) (2021).
MLA
Click to copy
Ma’arif, A., et al. “Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty.” Journal of Robotics and Control (JRC), 2021.
BibTeX Click to copy
@article{a2021a,
title = {Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty},
year = {2021},
journal = {Journal of Robotics and Control (JRC)},
author = {Ma’arif, A. and Vera, Marco Antonio Márquez and Mahmoud, Magdi Sadek and Ladaci, S. and Çakan, Abdullah and Parada, Jonattan Niño}
}
Abstract
The inverted pendulum system is highly popular in control system applications and has the characteristics of unstable, nonlinear, and fast dynamics. A nonlinear controller is needed to control a system with these characteristics. In addition, there are disturbances and parameter uncertainty issues to be solved in the inverted pendulum system. Therefore, this study uses a nonlinear controller, which is the backstepping sliding mode control. The controller is robust to parameter uncertainty and disturbances so that it is suitable for controlling an inverted pendulum system. Based on testing with step and sine reference signals without interference, the controller can stabilize the system well and has a fast response. In testing with disturbances and mass uncertainty, the backstepping sliding mode controller is robust against these changes and able to make the system reach the reference value. Compared with sliding mode control, backstepping sliding mode control has a better and more robust response to disturbances and parameter uncertainty.
