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
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© 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 stabilisation problem of the WAcrobot, previously addressed using switch-based controllers in numerous studies, is solved in this work by designing a single-stage controller that eliminates the need for switching steps or time. The design approach comprises two parts. First, the system is reduced to a cascaded nonlinear model in finite time by utilising its 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. In contrast, the inner loop forces them to exhibit an asymptotically stable nature. After achieving the desired design of both loops, the overall dynamics exhibit asymptotic stability. Finally, the theoretical analysis is validated using MATLAB. Simulation results demonstrate that the proposed controller effectively stabilizes the WAcrobot system at the equilibrium points.
Keywords: Underactuated Systems, WAcrobot, Stabilization, HSMC,2-Loop Control.
Scope of the Article: Electrical and Electronics