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| Auxiliary Feedback based Smooth Super-twisting Sliding Mode Control for Triple Inverted Pendulum |
| ZHANG Baokui , HAN Guangxin
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| School of Information and Control Engineering, Jilin Institute of Chemical Technology, Jilin City 132022, China |
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Abstract Aiming at the problem that the triple inverted pendulum only provides one driving force to the trolley, and the control objective is that all three pendulum rods can remain stable at the unstable equilibrium point and have a good ability to resist external interference, a robust controller is designed by adopting the smooth super-twisting sliding mode control strategy based on auxiliary feedback. Firstly, by combining the linear matrix inequality technique and using the method of constructing auxiliary feedback, the symmetric positive definite matrix in the sliding mode control law based on auxiliary feedback is solved, and then the design of the sliding mode surface is completed. Secondly, the buffeting problem existing in the sliding mode control algorithm itself is weakened, and in order to further ensure that the control rate is smooth, the smooth super-twisting sliding mode algorithm is introduced into the controller design framework. Finally, the stability of the closed-loop system is proved by the Lyapunov function. The simulation results show that this control strategy has a very good control effect on complex high-order unstable systems, achieving the control objective and having strong robustness.
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Published: 21 December 2025
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