Memory output-feedback integral sliding mode control for Furuta pendulum systems

Abstract

This paper studies the memory output-feedback integral sliding mode control for Furuta pendulum systems subject to unmatched harmonic disturbances and measurement noise. By introducing an artificial time delay, the derivatives of angular positions are approximated via Taylor’s expansion on the integral remainder. On this basis, a novel delay-dependent output-based sliding surface is constructed for state estimation and performance analysis, which inherits the appealing properties of the state-feedback integral sliding surface such as the elimination of reaching phase. Wherein, the artificial delay is regarded as a flexible design parameter ranging between 0 and its upper bound, with the bound determined by solving linear matrix inequalities. As a result, an integral sliding mode controller (ISMC) consisting of a static output-feedback part and a switching part is designed based on the descriptor system representation of the original system to control the pendulum in a noisy environment. Comparative simulation studies with H∞ control, state-feedback ISMC, and high-order ISMC demonstrate the effectiveness of the design method.