| Title |
Three-Level Decoupled Sliding Mode Control |
| Authors |
Ynchi, Ming(Ynchi, Ming) ; 장성동(Jang, Seong-Dong) ; 신화범(Sin, Hwa-Beom) |
| Keywords |
Decoupled sliding mode control ; Double-inverted pendulum |
| Abstract |
A three-level decoupled sliding mode controller is developed to achieve asymptotic stability for a class of sixth-order nonlinear systems. The sixth-order system is decoupled into three subsystems according to the structure of the whole system. Each subsystem has a separate control target in the form of a sliding surface. The information of the third sliding surface is transferred to the second one through an intermediate variable and the information of the second sliding surface is transferred to the first one through another intermediate variable. Consequently, the controller designed on the basis of the first sliding surface can make three subsystems move toward their sliding surfaces, respectively. The three-level decoupled sliding mode controller is applied to the double-inverted pendulum problem where the zero stable states are required. |