Swing Up and Balancing Implementation for the Pendubot Using Advanced Sliding Mode Control

DOI

10.2991/eame-15.2015.108How to use a DOI?

Keywords

pendubot; advanced sliding mode control; swing up; balancing scheme

Abstract

In this paper, an advanced sliding mode control (ASMC) with integral sliding function is proposed for the pendubot system which is a planar two degree of freedom (2-DOF) robotic arm in the vertical plane with an actuator at the shoulder, but no actuator at the elbow. Using MATLAB/SIMULINK environment, the pendubot dynamics is implemented and the proposed ASMC control is applied for swing-up and balancing tasks the pendubot as to well follow with various trajectories. Simulation results demonstrate the performance and effectiveness of the proposed ASMC control in comparison with conventional sliding mode control applied in swing-up and balancing scheme of the pendubot system.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - C.V. Kien
AU  - N.N. Son
AU  - H.P. Huy Anh
PY  - 2015/07
DA  - 2015/07
TI  - Swing Up and Balancing Implementation for the Pendubot Using Advanced Sliding Mode Control
BT  - Proceedings of the 2015 International Conference on Electrical, Automation and Mechanical Engineering
PB  - Atlantis Press
SP  - 383
EP  - 386
SN  - 2352-5401
UR  - https://doi.org/10.2991/eame-15.2015.108
DO  - 10.2991/eame-15.2015.108
ID  - Kien2015/07
ER  -