Trajectory Tracking for Futura Pendulum by Incremental Sliding Mode Control

* Ho Chi Minh City University of Technology and Education(HCMUTE)
Faculty of Electrical and Electronics Engineering (FEEE-HCMUTE)
** Ho Chi Minh City University of Transport
01- Vo Van Ngan, Thu Duc District, Ho Chi Minh City, Vietnam
02- Vo Oanh, Binh Thanh District, Ho Chi Minh City, Vietnam
E-mail: 16151113@student.hcmute.edu.vn; thanhnhcts@gmail.com;
tamnm@hcmute.edu.vn; hoangltt@hcmute.edu.vn; hainvd@hcmute.edu.vn

Abstract: Sliding Mode algorithm is familiar in control and automation. It has many categories with different names and different methods on choosing sliding surface. Additionally, some laboratories in Vietnam have researched on this but most of their results are on simulation. Therefore, in this paper, authors present one of direction general sliding mode control- Incremental Sliding Mode Control- to control Futura Pendulum (Rotary Inverted Pendulum). Balancing and trajectory tracking problems are solved through this process. This direction is proved to work well through both simulation and experiment.

Keywords: Futura Pendulum, rotary inverted pendulum, Sliding Mode Control, Incremental Sliding Mode Control, tracking trajectory control.

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