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Original scientific paper

https://doi.org/10.1080/00051144.2024.2312309

Stabilization control of rotary inverted pendulum using a novel EKF-based fuzzy adaptive sliding-mode controller: design and experimental validation

Omer Saleem ; Department of Electrical Engineering, FAST – National University of Computer and Emerging Sciences, Lahore, Pakistan
Turki Alsuwian ; Department of Electrical Engineering, College of Engineering, Najran University, Najran, Saudi Arabia
Arslan Ahmed Amin ; Department of Electrical Engineering, FAST – National University of Computer and Emerging Sciences (NUCES), Chiniot, Pakistan *
Shehryaar Ali ; School of Electrical Engineering and Computer Sciences, National University of Science and Technology (NUST), Islamabad, Pakistan
Zuhair A. Alqarni ; Electrical Engineering Department, Al-Baha University, Al-Aqiq, Saudi Arabia

* Corresponding author.


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Abstract

This article methodically develops an improved self-regulating fuzzy-adaptive Sliding Mode Controller (SMC) that strengthens the disturbance compensation capacity of the nonlinear rotary
pendulum systems while effectively attenuating the chattering content and curbing the control energy consumption. The article contributes to augmenting the SMC with online adaptation
tools to achieve the said objectives. It employs the conventional Gao’s power-rate reaching law
as the baseline. The scaling gain and the power rate of the said reaching law are adaptively modulated via a pre-calibrated two-input state-error-driven fuzzy nonlinear function. Additionally,
the sign function in the law is also replaced with an odd-symmetric nonlinear fuzzy function to
address the hard limits imposed by the former. Finally, the membership functions of the fuzzy
function are self-regulated using the Extended-Kalman-Filter to improve the compensator’s
adaptability in handling the system’s rapidly changing control requirements under exogenous
disturbances. The aforementioned propositions are verified by performing customized and
reliable hardware-in-loop experiments on the Quanser single-link rotary pendulum platform.
As compared to baseline SMC law, the proposed control procedure contributes a ∼ 45.2%,
∼ 48.5%, and ∼ 34.8% reduction in position-regulation errors, control energy consumption,
and peak overshoots, respectively. The experimental assessment validates the proposed control
system’s enhanced robustness and chattering-suppression capability

Keywords

Sliding-mode-control; fuzzy nonlinear function; Extended-Kalman-Filter; adaptive tuning; experimental validation

Hrčak ID:

323046

URI

https://hrcak.srce.hr/323046

Publication date:

7.2.2024.

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