Sliding mode control of a rotary double parallel inverted pendulum

Abstract

This study explores the stabilization of a rotating parallel inverted pendulum, a nonlinear, underactuated system challenging conventional control methods. Unlike prior work focusing on linear techniques like Linear Quadratic Regulator, which lack robustness to uncertainties, this research introduces a Sliding Mode Control (SMC) strategy. Utilizing a linear sliding surface, the proposed SMC ensures finite-time convergence and robust performance despite model uncertainties and disturbances. Numerical simulations and experimental results validate the controller’s ability to stabilize the pendulum and rotating base, demonstrating its superiority over traditional methods and potential applicability to similar complex mechanical systems.