Tracking of Two Connected Inverted Pendulum on Carts by Using A Fast Terminal Sliding Mode Control with Fixed-time Convergence

摘要

To study the underactuated systems, two connected inverted pendulum on carts (TCIPC) which is also a suitable benchmark to model various problems of control theory is utilized. In this work, a fast-terminal sliding mode controller (FTSMC) investigates the tracking problem of TCIPC. The designed controller makes the state trajectories of the system track the desired trajectories. Fixed-time sliding manifolds are appropriately proposed for the purpose to attain a better convergence in the reaching phase. In this case, the convergence time is independent of initial conditions, in contrast to the recent conventional controllers. Finally, in the simulation result, the robustness and the effectiveness of the proposed controller is shown.