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Stabilization of Double Inverted Pendulum Systems Based on Hierarchical Sliding Mode Control Techniques

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  • Muhammad Idrees
  • Zia Ullah
  • Jihad Younis
  • Sohail Ahmad
  • Hafeez Ahmad
  • Sundarapandian Vaidyanathan

Abstract

The double rotary inverted pendulum (DRIP) system belongs to the class of under-actuated mechanical systems, and it is a highly nonlinear, unstable, and benchmark system to test the different control techniques. This paper successfully designed the nonlinear hierarchical sliding mode control (HSMC) techniques to stabilize the DRIP system. We compare the performance of these techniques numerically with each other and with the previously designed control technique. We propose an aggregated HSMC technique as it has a much shorter stabilization time than other designed techniques.

Suggested Citation

  • Muhammad Idrees & Zia Ullah & Jihad Younis & Sohail Ahmad & Hafeez Ahmad & Sundarapandian Vaidyanathan, 2023. "Stabilization of Double Inverted Pendulum Systems Based on Hierarchical Sliding Mode Control Techniques," Mathematical Problems in Engineering, Hindawi, vol. 2023, pages 1-8, August.
    • Handle: RePEc:hin:jnlmpe:3916279
    DOI: 10.1155/2023/3916279
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