ROBOTICA & MANAGEMENT - Vol. 23, No. 2, December 2018, pp. 9-12

Optimal Sliding Mode Control for Tracking Trajectory Problem of Triple Pendubot

Xuan Dung Huynh *, Thanh Nguyen Nguyen **, Gia Bao Hong *, Dinh Dat Vu *, Minh Tam Nguyen *

* Ho Chi Minh City University of Technology and Education (HCMUTE)
Faculty of Electrical and Electronics Engineering (FEEE-HCMUTE)
01- Vo Van Ngan, Thu Duc District, Ho Chi Minh city, Vietnam
** Ton Duc Thang University (TDTU)
Faculty of Electrical and Automation Engineering
19- Nguyen Huu Tho, District 7, Ho Chi Minh city, Vietnam

 Triple pendubot – which is advanced model of classical pendubot, is constructed by single input that applied to first link and three link continuous connected. This is a typical nonlinear, unstable and fast-reacting system. With its structure as a SIMO system, it is hard to be controlled by traditional sliding mode controller, especially in the case that set-point changes constantly. This paper proposes a solution mathematical improvement of Lyapunov inequality based on Sliding Mode Algorithm which was inferred in former research. After that, authors use genetic algorithm to find parameters control which are satisfied Lyapunov inequality above. Finally, we use Matlab/Simulink software to simulate system and algorithm. And obtained results are also presented to prove effective proposal.

Keywords: Triple Pendubot; sliding controller; genetic algorithm; SIMO system; Lyapunov Inequality; nonlinear; Matlab/Simulink.

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