Indian Journal of Science and Technology
Year: 2017, Volume: 10, Issue: 30, Pages: 1-5
Bhawna Tandon1 , Shiv Narayan2 and Jagdish Kumar2
1Department of ECE, Chandigarh Engineering College, Mohali - 140307, Punjab, India; [email protected] 2Department of Electrical Engineering, PEC University, Chandigarh - 160012, Punjab, India; [email protected], [email protected]
Objective: This study proposes the application of optimized Sliding Mode Control (SMC) with Nonlinear Disturbance Observer (NDO) for the Inverted pendulum, which is subjected to mismatched disturbances. Methods/Statistical Analysis: Sliding Mode Control (SMC) with Nonlinear Disturbance Observer (NDO) solves the main problem of chattering present in traditional sliding mode controllers while retaining the nominal performance even with mismatched disturbances. Chattering defines the presence of finite frequency and finite amplitude oscillations in the control input. Genetic Algorithm is used for searching the optimal controller parameters, which includes switching function coefficient, switching gain and observer gain. Findings: Simulation results shows the advantages of NDO based SMC and proves that NDOSMC can observe the mismatched disturbances very effectively. The conventional SMC method is also used in the control design the Inverted pendulum for comparison studies. The two main issues to be tackled in conventional Sliding Mode Control (SMC) are convergence time and chattering. Chattering and convergence time can be reduced in SMC by getting the optimal values of controller parameters using intelligent optimization techniques such as Genetic Algorithm (GA). In the present study convergence time and chattering of the controlled system are considered as the performance index of objective function. Application/Improvements: This study can further be extended for Multi-Input Multi-Output (MIMO) systems subjected to mismatched disturbances and parametric uncertainties.
Keywords: Chattering, Genetic Algorithm, Inverted Pendulum, Mismatched Disturbances, Nonlinear Disturbance Observer (NDO), Sliding Mode Control (SMC)
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