MIMO sliding mode control of a robotic "pick and place" system modeled as an inverted pendulum on a moving cart

Author

Doskocz, Edward ; Shtessel, Yuri ; Katsinis, Constantine

Author_Institution

Dept. of Electr. & Comput. Eng., Alabama Univ., Huntsville, AL, USA

fYear

1998

fDate

8-10 Mar 1998

Firstpage

379

Lastpage

383

Abstract

Nonlinear output tracking of arbitrary inputs in a multi-input, multi-output (MIMO) system with matched nonlinearities and disturbances is considered in sliding modes. A sliding mode controller, designed using the method of control hierarchy, is proposed for a robotic "pick and place" system modeled as an inverted pendulum mounted on a moving cart. Two arbitrary profiles for positioning pendulum angle and cart position serve as inputs to the controller. A brief background on sliding mode control and the system\´s dynamic equations is also provided along with a presentation of simulation results. In addition, a description of a novel distributed computer system-the simultaneous optical multiprocessor exchange bus-that could be applied to control of the system is included.

Keywords

materials handling; mobile robots; multiprocessor interconnection networks; nonlinear control systems; optical interconnections; position control; robot dynamics; variable structure systems; MIMO sliding mode control; control hierarchy method; distributed computer system; dynamic equations; inverted pendulum; matched nonlinearities; moving cart; nonlinear output tracking; pendulum angle; robotic pick and place system; simultaneous optical multiprocessor exchange bus; Computational modeling; Design methodology; Distributed computing; Equations; MIMO; Nonlinear optics; Optical computing; Optical control; Robots; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 1998. Proceedings of the Thirtieth Southeastern Symposium on

ISSN

0094-2898

Print_ISBN

0-7803-4547-9

Type

conf

DOI

10.1109/SSST.1998.660100

Filename

660100