Fuzzy Logic-Based Variable Gains Super Twisting Sliding Mode Controller for Furuta Pendulum

Abstract

The Furuta pendulum, also known as a rotational inverted pendulum, is an illustration of a robotic manipulator system. It can be identified as a serial chain of robotic manipulator arms. The arm and pendulum, a motor, and two bars make up the bulk of the Furuta pendulum system. The Furuta pendulum is an unstable, under-actuated dynamic system, making it difficult to balance it around its inverted position while also stabilizing it in the vertically upright position from its initial position based on its pendant position under model imperfection and unknown plant parameters. The Furuta Pendulum's variable-gain super-twisting sliding mode controller is the subject of this research. A new sliding surface is developed as part of the Fuzzy Logic-Based Variable Gains Super Twisting Sliding Mode Controller for the Furuta Pendulum. The rotary arm and underactuated pendulum variables are used to define this surface. To design a variable-gain super-twisting controller, a nonlinear model Furuta pendulum system has been taken into account. A fuzzy logic method is used to adjust the control gains in the proposed controller. Using the Lyapunov stability criterion, the stability of the entire system has been examined. The Inverted pendulum’s RMSE performance of the proposed scheme is 5% superior to FBSTSA, 78.05% superior to PID-STA. Also, the rotary arm’s RMSE performance of the proposed scheme is 85% superior to FBSTSA, 26%, and superior to PID-STA. Moreover, the convergence time (CT) measure of the presented FBVGSTA technique is 87.21% superior to FBSTSA and 86.35% superior to PID-STA. The simulation results are presented to illustrate the efficacy of the controller. MATLAB and Simulink are used for simulation.