Hierarchical Sliding Mode Control Design for Stabilization of Underactuated Wheeled Acrobot System
Wosene Yirga Balcha1, Dawit Gizachew Misikir2
1Wosene Yirga Balcha, Department of Electrical and Computer Engineering, Hawassa University, Hawassa, Ethiopia.
1Dawit Gizachew Misikir, Department of Electrical and Computer Engineering, Hawassa University, Hawassa, Ethiopia.
Manuscript received on 30 November 2024 | Revised Manuscript received on 09 December 2024 | Manuscript Accepted on 15 December 2024 | Manuscript published on 30 December 2024 | PP: 7-11 | Volume-11 Issue-12, December 2024 | Retrieval Number: 100.1/ijies.E73830111523 | DOI: 10.35940/ijies.E7383.11121224
Open Access | Editorial and Publishing Policies | Cite | Zenodo | OJS | Indexing and Abstracting
© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: This paper presents the hierarchical sliding mode control (HSMC)–based stabilization problem of the wheeled Acrobot (WAcrobot) system, which combines an actuated wheel that rolls in the horizontal plane with an Acrobot consisting of two inverted pendulum links. These links are driven by an actuator at the second joint and freely rotate in a vertical plane. The stabilization problem of the WAcrobot, previously addressed using switch-based controllers in many studies, is solved in this work by designing a single-stage controller without requiring switching steps or time. The design approach comprises two parts. First, the system is reduced to a cascaded nonlinear model in finite time using the inherent dynamic coupling relationship. Second, a two-loop control scheme is employed: the outer loop ensures that the actuated state variables track the desired response, while the inner loop forces them to exhibit an asymptotically stable nature. After the desired design of both loops, the asymptotic stability of the overall dynamics is achieved. Finally, the theoretical analysis is validated using MATLAB. Simulation results demonstrate that the proposed controller effectively stabilizes the WA crobot system at the equilibrium points.
Keywords: Underactuated Systems, WAcrobot, Stabilization, HSMC,2-Loop Control.
Scope of the Article: Electrical and Electronics