A Swing-up/Stabilization Control By Using Nonlinear Sliding Mode For Furuta Pendulum

We propose a new controller design named the model-following stabilizer (MF stabilizer) for swinging-up and stabilizing the Furuta Pendulum. The MF stabilizer is based on model-following servo control (MFSC). The MFSC guarantees the error converges to 0 and the stabilization of the closed-loop system. The proposed method provides not only the servo capability to the actuated link but also the stabilization of the unactuated link. For the proposed MF stabilizer, the stable reference model chosen is the Furuta pendulum under the artificial gravity field, where the gravity is directed upward. The reference model chosen has stable equilibrium points at upright position. This paper gives the simulation results of the Furuta pendulum controlled by the MF stabilizer. The validity of the proposed design method is studied through the simulation of swing-up/stabilization control.