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2018•Unpublished venueRequires access

Performance comparison of backstepping and sliding mode controllers

Amira Tiga, Chekib Ghorbel, Naceur Benhadj Braïek

Open publisher page 5 citations

Abstract

In this paper, backstepping and sliding mode controllers were proposed to stabilize the inverted pendulum into the unstable equilibrium point. Simulation and real-time experimental results for both composite controllers backstepping-PID and sliding mode-PID achieve good performance. Moreover, it proves that the backstepping controller was able to attain the desired response with high degree of rapidity. However, sliding mode controller was able to reject the matched disturbance present in the system.

About this research paper

What this paper is about

In this paper, backstepping and sliding mode controllers were proposed to stabilize the inverted pendulum into the unstable equilibrium point. Simulation and real-time experimental results for both composite controllers backstepping-PID and sliding mode-PID achieve good performance. Moreover, it proves that the backstepping controller was able to attain the desired response with high degree of rapidity. However, sliding mode controller was able to reject the matched disturbance present in the system.

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OpenAlex reports 5 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

In this paper, backstepping and sliding mode controllers were proposed to stabilize the inverted pendulum into the unstable equilibrium point. Simulation and real-time experimental results for both composite controllers backstepping-PID and sliding mode-PID achieve good performance. Moreover, it proves that the backstepping controller was able to attain the desired response with high degree of rapidity. However, sliding mode controller was able to reject the matched disturbance present in the system.

Key concepts: Backstepping, Control theory (sociology), Inverted pendulum, PID controller, Mode (computer interface), Controller (irrigation), Sliding mode control, Computer science

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