Swing Up and Balancing Implementation for the Pendubot Using Advanced Sliding Mode Control

摘要

In this paper, an advanced sliding mode control (ASMC) with integral sliding function is proposed for the pendubot system which is a planar two degree of freedom (2-DOF) robotic arm in the vertical plane with an actuator at the shoulder, but no actuator at the elbow. Using MATLAB/SIMULINK environment, the pendubot dynamics is implemented and the proposed ASMC control is applied for swing-up and balancing tasks the pendubot as to well follow with various trajectories. Simulation results demonstrate the performance and effectiveness of the proposed ASMC control in comparison with conventional sliding mode control applied in swing-up and balancing scheme of the pendubot system.