MIMO sliding mode control of a robotic "pick and place" system modeled as an inverted pendulum on a moving cart

摘要

Nonlinear output tracking of arbitrary inputs in a multi-input, multi-output (MIMO) system with matched nonlinearities and disturbances is considered in sliding modes. A sliding mode controller, designed using the method of control hierarchy, is proposed for a robotic "pick and place" system modeled as an inverted pendulum mounted on a moving cart. Two arbitrary profiles for positioning pendulum angle and cart position serve as inputs to the controller. A brief background on sliding mode control and the system's dynamic equations is also provided along with a presentation of simulation results. In addition, a description of a novel distributed computer system-the simultaneous optical multiprocessor exchange bus-that could be applied to control of the system is included.