Abstract
Cart and Pole is a classical model in control laboratories for testing control algorithm. Balancing control at equilibrium point has been operated many times on this model. However, a control algorithm that makes the system track a suggested trajectory, when stability requirement is guaranteed by mathematics, is still opened. In this paper, the author suggests using a sliding mode control to stabilize cart and pole system at an equilibrium point. Then, this algorithm controls the cart to track the trajectory of sine signal and pulse signal when still stabilizing pendulum on inverted position. On Matlab/Simulink simulation, sliding mode control proves its advantages over LQR control. Then, experiments show the abilities of applying sliding control for the real model.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bugeja M (2003) Non-linear swing-up and stabilizing control of an inverted pendulum system. EUROCON
Siradjuddin I, Amalia Z, Setiawan B, Wicaksono RP (2017) Stabilising a cart inverted pendulum system using pole placement control method. In: International conference on quality in research (QiR): international symposium on electrical and computer engineering, pp 197–203. IEEE
Mahapatra C, Chauhan S (2017) Tracking control of inverted pendulum on a cart with disturbance using pole placement and LQR. In: International conference on emerging trends in computing and communication technologies (ICETCCT). IEEE
Sonone SS, Patel NV (2015) LQR controller design for stabilization of cart model inverted pendulum. Int J Sci Res (IJERT) 4(7):1172–1176
Kumar EV, Jerome J (2013) Robust LQR controller design for stabilizing and trajectory tracking of inverted pendulum. Proc Eng 64:169–178, Elsevier
Jie-Ren H (2003) Balance control of a car-pole inverted pendulum. Master thesis of National Cheng Kung University, Taiwan
Kwakernaak H, Sivan R (1972) Linear optimal control systems. 1st edn. Wiley-Interscience. ISBN 0-471-51110-2
Hao Y, Yi J, Zhao D, Qian D (2008) Design of a new incremental sliding mode controller. In: IEEE 7th World congress on intelligent control and automatic, pp 3407–3412
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Hong, GB. et al. (2020). Trajectory Tracking Sliding Mode Control for Cart and Pole System. In: Solanki, V., Hoang, M., Lu, Z., Pattnaik, P. (eds) Intelligent Computing in Engineering. Advances in Intelligent Systems and Computing, vol 1125. Springer, Singapore. https://doi.org/10.1007/978-981-15-2780-7_89
Download citation
DOI: https://doi.org/10.1007/978-981-15-2780-7_89
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-2779-1
Online ISBN: 978-981-15-2780-7
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)