Stabilization of Double Inverted Pendulum Systems Based on Hierarchical Sliding Mode Control Techniques

被引：0

作者：

Idrees M. ^{[1
]}

Ullah Z. ^{[2
]}

Younis J. ^{[3
]}

Ahmad S. ^{[2
]}

Ahmad H. ^{[4
]}

机构：

[1] Department of Mathematics and Statistics, The University of Lahore, Lahore

[2] Department of Mathematics and Statistics, The University of Lahore, Sargodha Campus, Sargodha

[3] Aden University, Khormaksar, P. O. Box. 6014, Aden

[4] Department of Statistics, School of Quantitative Sciences, University Utara, Sintok

来源：

Mathematical Problems in Engineering | 2023年 / 2023卷

关键词：

All Open Access; Hybrid Gold;

D O I：

10.1155/2023/3916279

中图分类号：

学科分类号：

摘要：

The double rotary inverted pendulum (DRIP) system belongs to the class of under-actuated mechanical systems, and it is a highly nonlinear, unstable, and benchmark system to test the different control techniques. This paper successfully designed the nonlinear hierarchical sliding mode control (HSMC) techniques to stabilize the DRIP system. We compare the performance of these techniques numerically with each other and with the previously designed control technique. We propose an aggregated HSMC technique as it has a much shorter stabilization time than other designed techniques. © 2023 Muhammad Idrees et al.

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