4 Trajectory Tracking for Futura Pendulum by Incremental Sliding Mode Control

TRAJECTORY TRACKING FOR FUTURA PENDULUM BY

INCREMENTAL SLIDING MODE CONTROL

Gia Bao Hong *, Hai Thanh Nguyen **, Minh Tam Nguyen *, Thi Thanh Hoang Le *,
Van Dong Hai Nguyen *

* 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.

1. Introduction dynamical equations of system and an overview of ISMC

algorithm will be shown in third and fourth section. In the
Sliding mode control (SMC) [6] has been used next two sections, results are shown to verify the stability
widely in many laboratories which research on automatic of ISMC both on simulation and practice. The last section
control in Vietnam and around the world [7] [8]. This is the conclusion of ISMC algorythm.
means that SMC is one of classical algorithms and
performs very well. However, the Incremental Sliding 2. System Structure
Mode Control (ISMC)- one of upgraded the SMC
algorithms- still has rarely been used in practice. Because
the ISMC is quite strange with many labs in Vietnam, the
purpose of this paper is verifying the stability of system
after use ISMC both on simulation and experiment.
Unstable system mentioned in here is the Futura
Pendulum (as known as the Rotary Inverted Pendulum).
The Futura Pendulum is the under-actuated system which
means SIMO (simple input multiple output) model. It is
interesting [3] in the field of control and automation
because of its instability. About simulating a system in
Matlab/Simulink, it is good to test control algorithms Fig. 1. Futura Pendulum.
because of its convenience and low cost. However, it The Futura Pendulum (RIP) has two links. Link 1
cannot assure that the real system can be controlled as links to motor via motor shaft head called arm. The
well as simulation. Therefore, the algorithm cannot be deviation angel of arm versus horizontal is  . Link 2
verified certainly. Through learning, reading some papers freely rotates around the arm via axis of encoder called
researched about ISMC, authors notice that most of pendulum. The deviation angel of pendulum versus
results are on simulation [4], [5]. In order to guarantee the verticality is  . Both 2 links are straight bars in same
control quality in the operation, ISMC is suggested to be
material. Lp, Lr, Jp, Jr are length and moment of inertia of
used in controlling real-time RIP. Moreover, if controlling
arm and pendulum ; mp is mass of pendulum and the force
to control system is torque (  ) – moment of force (it is
a system in real-time, it will help you better understand
the model and algorithm.
the rotational equivalent of linear force). Voltage is
The paper has seven sections. The first one is
supplied to motor and make motor spun. Then, torque is
introduction about the aim of this article. Secondly,
created.
authors mention about the system structure. Then,
Parameters of system are shown in Tab. 1.

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 Hong G.B., Nguyen H.T., Nguyen M.T., Le T.T.H., Nguyen V.D.H. 5

3. Mathematical Model Jp Moment of inertia of 5.877x10-5 N.m

pendulum
Due to [1], the dynamic equations of system are Jr Moment of inertia of 0.003 N.m
found based on Euler-Lagrange method: arm
Bp Coefficient of friction 0
of pendulum
Br Coefficient of friction 0.0017 (1)
of pendulum
(2) g Accelerate of gravity 9.81 m/s2

Where: L = K – V Tab. 2. Parameters of motor

Symbol Description Value Units
 K: Total kinetic of RIP.
 V: Total potential of RIP.
Ra Resistor 6.546 
Kt Torque constant 0.066 N.m/A
Then, the dynamic equations of model are shown
Kb Back-emf 0.066 V.s/rad
as: constant
Cm Viscous friction 4.8x10-5 N.m.s/rad
coefficient
Jm Moment of inertia 3.86x10-4 Kg.m2
(3)
of rotor

4. The Incremental Sliding Mode Control [2]

The ISMC is created by how choosing sliding

surfaces so that each sliding surface and state variable are
components of the next one. By that way, the ISMC
(4) controls closely the state variables and provides a suitable
control signal. Therefore, the ISMC is different to the
SMC.

Control signal in here is torque of motor (  ). It

needs to be converted into voltage to fit the real system.
Therefore, torque is transformed into voltage as (5):

(5)

Kt, Kv, Ra, Cm, and Jm are found by motor

identifying method [9]. Their values are shown in Tab. 2.
Equations (3), (4) are written as (6):
Fig. 2. Structure of ISMC.
To control tracking, reference state variables are
set as X d   x1d x 2d x 3d x 4d 
T
(6)
Errors between reference and real values of state
variables are ei, (i = 1, 2, 3):
ei  xi  xdi (7)
Where: X   x1 x4 
T
x2 x3 Due to Fig. 1, the first sliding surface is chosen as:
s1  c1e1  c2 e2 (8)
=
Tab. 1. Parameters of system Then, s1 is an element of the next sliding surface -
Symbol Description Value Unit
s s2 , which is chosen as:
mp Mass of pendulum 0.04 kg s2  s1  c3e3 (9)
Lp Length of pendulum 0.23 m
Lr Length of arm 0.15 m s2 is an element of the final sliding surface- s3 ,
which is chosen as:

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6 Trajectory Tracking for Futura Pendulum by Incremental Sliding Mode Control

s3  s2  c4 e4 (10)
Where: c1 ,c2 ,c3 ,c4 are control parameters.
The aim of trajectory tracking is making ei move
to zero.
The Lyapunov function is selected as:
1
V  s32 >0  (11)
2
To satisfy the Lyapunov criterion, is selected to
be negative. Then, it is:
(12) Fig. 3. Angels of RIP in balancing- simulation.
Where: k,  are positive constants.
From [2], the total control is:
U  Ueq  Usw (23)

Where: Ueq keeps the state variables moving on sliding

surface until ei equal to zero. Usw will make .
Usw controls the state variables of the RIP moving to the
sliding surface.
Due to [2], it yields
(sign(s3 )  ks3 )
Usw  (14)
c4 g 2  c2 g1

(15)
Fig. 4.  in tracking- simulation.

5. Simulation

Results of simulation under ISMC are shown in

Fig. 3, Fig. 4 and Fig. 5 with both balancing and tracking
trajectory.
Control parameters are found by genetic
algorithm[10] :
c1  11.4636;c2  14.2945;c3  4;c 4  7;
k  20;   0.2
The initial values are selected as:
x _ init   0.2  0.2  0.2 0.1
T

The reference βd is a sinusoidal trajectory. Fig. 5.  in tracking- simulation.

Amplitude and cycle are pi/2 and 20 seconds respectively.
After surveying these results, authors notice that
ISMC solves well the trajectory problem. Angels of RIP
move to sliding surface and keep on it after a few seconds.
 is almost close to the reference value and  has
stabilized around the equilibrium position.

6. Experiment

Results in this section explain the activity of RIP

in balancing and tracking problems. They are shown in
Fig. 6 to Fig. 8.

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 Hong G.B., Nguyen H.T., Nguyen M.T., Le T.T.H., Nguyen V.D.H.
Fig. 6. Angels of RIP in balancing- real time.
Fig. 7.  in tracking trajectory-real time.
Fig. 8.  in tracking trajectory- real time.
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7
Based on the results above, authors found that this
algorithm control trajectory tracking well in experiment.
Although there are still small errors because the hardware
of real system is not good,  ,  are closed to the
reference values generally.
7. Conclusions
The purposes of this paper are introducing about
ISMC algorithm and verifying its ability for RIP system
on tracking problem. Based on simulation and
experimental results, authors detect that ISMC operates
truly well, though mechanics of system is not good. After
a short time, both  and  reach the sliding surface and
stabilize on it.
In practice, system still wavering a little around
sliding surface because it has chattering phenomenom in
control signal. In order to reduce chattering, Sign() can be
changed by Sat() function. However, it may be affect to
the stability of system.
8. References
[1] Rotary Pendulum Workbook, Quanser Inc, 2011.
[2] Djila Z., Khier B.: “Optimal sliding mode control of
the pendubot”, International Research Journal of
Computer Science and Information Systems (IRJCSIS)
Vol. 2(3) pp. 45-51, April, 2013.
[3] Arturo R.M, Juan H.G, Oscar Pacheco–De la V., Luis
L.L.: “FO Based–LQR Stabilization of the Rotary
Inverted Pendulum”, 2016 28th Chinese Control and
Decision Conference (CCDC).
[4] Yinxing H., Yi J., Zhao D., Wei W.: “Proposal of
incremental sliding mode control”, Proceedings of the
First International Conference on Innovative Computing,
Information and Control (ICICIC'06), 2008.
[5] Djamila Z., Khier B.: “Optimal sliding mode control
of the pendubot”, Global Journal of Computer Science
and Programming, pp.008-014, June, 2014.
[6] Duong N.N.: ”Điều khiển hệ thống đa biến”, Ho Chi
Minh City University of Technology, 2011.
[7] Le Q.V., Nguyen M.T., Duong H.N.: “Sliding mode
control for rotary inverted pendulum”, Journal of
Technical Education Science, 2017.
[8] Mojtaba A.K., Mohammad T., Mahdi A.S.: “Sliding
Mode Control of Rotary Inverted Pendulum”, 2007
Mediterranean Conference on Control and Automation.
[9] Jie-Ren H.: “Balance Control of a Car - Pole Inverted
Pendulum System”, National Cheng Kung University
library, 2002.
[10] Hoang H.T.: “Hệ Thống Điều Khiển Thông Minh”,
Ho Chi Minh City University of Technology, 2014.