Output Feedback Sliding Mode Control System with Disturbance Observer for Rotational Inverted Pendulums

외란 관측기를 이용한 회전형 역진자 시스템의 출력 피드백 슬라이딩 모드 제어

  • Published : 2002.02.01


This paper presents the system modeling, analysis, and controller design and implementation for a rotational inverted pendulum system(RIPS), which is an under-actuated system and has the problem of unattainable angular velocity state. A sliding mode controller using the parameterization of both the hyperplane and the compensator fur output feedback is applied to the RIPS. Also, to improve the performance of the control system, a disturbance observer which estimates the disturbance, parameter variation, and some modeling errors of RIPS with less computational effort is used together. The results of simulation and experiment show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions.


  1. Pettersen, K. Y. and Fossen, T. I., 2000, 'Underactuated Dynamic Positioning of a Ship-experimental Results,' IEEE Trans. on Control Systems Technology, Vol. 8, No. 5, pp. 856-863
  2. Ono, K., Yamamoto, K., and Imadu, A., 2000, 'Control of Giant Swing Motion of a Two-link Underactuated Horizontal Bar Robot,' Intelligent Robots and Systems 2000.(IROS 2000). Proceedings 2000 IEEE/RSJ Intern. Conference on, Vol. 3, pp. 1676-1683
  3. Fantoni, I., Lozano, R., and Annaswamy, A. M., 2000, 'Adaptive Stabilization of Underactuated Flexible-joint Robots Using an Energy Approach and Min-max Algorithms,' ACC 2000. Proceedings of the 2000, Vol. 4, pp. 2511-2512
  4. Ito, K., Matsuno, F., and Takahashi, R., 2000, 'Underactuated Crawling Robot,' Intelligent Robots and Systems 2000.(IROS 2000). Proceedings 2000 IEEE/RSJ International Conference on, Vol. 3, pp. 1684-1689
  5. 김낙인, 이종원, 2000, '외란관측기를 가지는 슬라이딩 모드 제어기 설계,' 대한기계학회논문집(A), 제24권, 제4호, pp. 866-873
  6. Edwards, C., and Spurgeon, S. K., 1998, 'Compensator Based Output Feedback Sliding Mode Controller Design,' Int. J. Control, Vol. 71, No. 4, pp. 601-614
  7. Ryan, E. P., and Corless, M., 1987, 'Ultimate Boundedness and Asymptotic Stability of a Class of Uncertain Dynamical Systems via Continuous and Discontinuous Control,' IMA Journal of Mathematical Control and Information, Vol. 1, pp. 223-242
  8. Bag, S. K., Spurgeon, S. K., and Edwards, C., 1997, 'Output Feedback Sliding Mode Design for Linear Uncertain Systems,' Proceedings of IEE, Part D, Vol. 144, pp. 209-216
  9. Umeno, T., Kaneko, T., and Hori, Y., 1993, 'Robust Servo-system Design with Two Degree of Freedom an Its Application to Novel Motion Control of Robot Manipulator,' IEEE Trans. on Industrial Electronics, Vol. 40, pp. 473-485
  10. Lee, M. C. and Aoshima, N., 1986, Microprocessor-Based System Identification by Signal Compression Method, Reidel Publishing Company, pp. 81-103
  11. Edwards, C. and Spurgeon, S. K., 1999, Sliding Mode Control : Theory and Application, Taylor & Francis
  12. Utkin, V. I., 1992, Sliding Mode in Control and Optimization, Springer-Verlag
  13. Komada, S., Sugano, K., Ishida, M., and Hori, T., 1996, 'Realization of Second Derivative Control of Position and Force in Servo System by Order Adjustment of Disturbance Observer,' Trans. on Inst. Elect. Eng. Jpn, Vol. 116-D, No. 10, pp. 1010-1017
  14. 강철구, 김효중, 1998, '하드웨어적 16 비트 인터페이싱 인코더 보드를 사용한 수평 원궤도형 도립진자의 스윙업 및 안정화 제어,' 대한기계학회논문집(A), 제22권, 제5호, pp. 748-755