Implementation of the Network-Based Moving Sliding Mode Control Algorithm to the Rotary Inverted Pendulum System

Year 2019, Volume: 3 Issue: 1, 32 - 41, 23.05.2019

Muhammet Aydın , Oğuz Yakut , Hakan Tutumlu

Abstract

In
this study, the most preferred in control applications rotary inverted pendulum
system (rip)  is dealt. The coordinates
of the center of gravity of the rip elements were found and the total kinetic
and potential energies of the system were obtained. Lagrange function has been
formed by using kinetic and potential energy expressions. Expressions giving
the equations of motion of the system have been found by taking into
consideration the Lagrange method. Using the state variables, the pendulum
angle of the system has been controlled by the moving sliding mode control
method via the program written in Matlab. The slope of the sliding surface is
calculated by artificial neural networks. Optimum values of weight and bias
coefficients of artificial neural networks are found by using the genetic
algorithm. From the results, it has been seen that the pendulum angle reaches
to about 25 Nm motor torque and the reference value reaches about 3 seconds and
the error is about zero.

Keywords

Rotary inverted pendulum, Moving sliding mode control

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