Experimental Study of Swing-Up PD and Sliding Mode Control for Rotary Inverted Pendulum
Résumé
This paper investigates the stabilization of a Rotary Inverted Pendulum (RIP) using two control methods: a proportional-derivative (PD) controller and a novel sliding mode controller (SMC). This system presents significant control challenges. Its dynamical equations are highly non-linear, coupled, and complex. Additionally, it is underactuated. Therefore, the goal is to regulate the pendulum's arm of the RIP from a hanging position to its upright equilibrium point and maintain stability despite external disturbances. A swing-up PD controller, a common approach based on energy for RIP control, is first implemented. This controller successfully maneuvers the arm upright. Subsequently, a SMC type is designed to handle the system's non-linear dynamics directly, achieving stabilization without the need for a swing-up technique, unlike the PD controller. Experimental results using the QUBE-Servo platform from Quanser are presented and compared to demonstrate the performance of the two controllers in stabilizing the RIP.