Modified grey wolf optimised adaptive super-twisting sliding mode control of rotary inverted pendulum system

This paper proposes a modified grey wolf optimiser-based adaptive super-twisting sliding mode control algorithm for the trajectory tracking and balancing of the rotary inverted pendulum system. The super-twisting sliding mode algorithm severely alleviates the chattering present in the classical sliding mode control. It provides robustness against model uncertainties and external disturbances with the knowledge of the upper bounds of the uncertainties and disturbances. The gains of the super-twisting sliding mode algorithm are selected through adaptive law. Parameters of the adaption law are tuned using a modified grey wolf optimisation algorithm, a meta-heuristic optimisation technique. Lyapunov stability analysis is carried out to analyse the overall control system stability. The performance of the proposed control algorithm is compared with two other sliding mode control strategies present in the literature, therein showing better performance of the proposed control scheme.