Swing-up of Furuta Pendulum by Nonlinear Sliding Mode Control

Abstract

This paper presents a nonlinear sliding mode control and its applications to swing-up and stabilization of a Furuta pendulum. The nonlinear sliding mode is computed by the State Dependent Riccati Equation. The approach is based on the Lyapunov function and the stability is assured under the given condition. The validity of the proposed design method is studied through the simulation of swing-up/stabilization control.