SLIDING MODE CONTROL FOR SWING-UP AND STABILIZATION OF THE CART-POLE UNDERACTUATED SYSTEM

This paper uses sliding mode control to accomplish the objectives of swing-up and stabilization of the cart-pole underactuated system. The features of underactuated systems prohibit direct application of conventional sliding mode control for fully-actuated systems. In this paper, we design a novel sliding mode control for the cart-pole underactuated system so that the control goals can be achieved. In addition, by simply changing the parameters of the sliding surface, we use only one sliding mode control scheme to swing up and to stabilize the cart-pole system. Using the sliding mode dynamics and the internal dynamics, we show that the proposed sliding mode control can swing up the cart-pole system from the stable equilibrium and can stabilize the system to the unstable equilibrium. Our simulation results on a cart-pole system demonstrate the feasibility of the proposed sliding mode control. The proposed control schemes, the stability analysis, and the numerical simulation provide a useful guideline for designing the sliding mode control for the cart-pole underactuated system.