State estimation of rotary inverted pendulum using HOSM observers: Experimental results

F. A. Haouari , Quoc Viet Dang (1) , J. y Jun , Mohamed Djemai (1, 2) , Brahim Cherki

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 INSA Hauts-De-France - INSA Institut National des Sciences Appliquées Hauts-de-France

This paper presents the observer design for the state estimation of the rotary inverted pendulum (RIP) system. A Takagi-Sugeno (T-S) fuzzy descriptor ap- proach is used for modeling the nonlinear dynamic system. Two higher-order sliding mode (HOSM) observers, based on the super-twisting algorithm, are proposed and applied to the RIP with real-time implementation. The experimental results illus- trate the finite-time convergence and accuracy of the state estimates of the designed observers.

Mots clés: Higher-order sliding mode observer; Rotary inverted pendulum; Super-twisting algorithm; T-S fuzzy descriptor model

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

F. A. Haouari, Quoc Viet Dang, J. y Jun, Mohamed Djemai, Brahim Cherki. State estimation of rotary inverted pendulum using HOSM observers: Experimental results. Nonlinear Dynamics and Systems Theory, 2019, 19 (3), pp.405-415. ⟨hal-03677981⟩