A Stable Lyapunov Approach of Advanced Sliding Mode Control for Swing up and Robust Balancing Implementation for the Pendubot System

This paper investigates the two-link Pendubot with one active joint at shoulder. The modified sliding mode controller for swinging up the Pendubot to the upright position and for robust balancing it at upright position. As to improve the performance, a novel advanced sliding mode controller is developed for robust balancing the Pendubot system at upright position. Simulation results have proved that the proposed sliding mode swinging up and balancing controller are successful techniques for robust balancing the Pendubot system at the upright position. They are strongly robust and tolerate noise and external disturbance. The proposed advanced sliding mode controller improves the robustness, reduces the chattering and the hitting time of sliding surface as well.

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