Design of an Adaptive Super-Twisting Control for the Cart-Pole Inverted Pendulum System

A cart-pole inverted pendulum system is one of the underactuated systems that has been used in many applications. This research aims to study design and effectiveness Adaptive Super-Twisting controller stabilize by comparing it with other previous control methods. stabilization upright using algorithm (ASTA), was investigated. The proposed designed based on decoupling method solve coupled input model. We then compared stabilizing first-order sliding mode (FOSMC) (STA) Matlab/Simulink simulation realistic computer simulation. developed anyKode Marilou software, which adopted Open-Dynamic Engine (ODE) as a physics engine. In simulation, we considered three different scenarios: nominal system, uncertainty, disturbed system. Meanwhile, only presented comparison controllers' performances for realized Both results showed controllers could 0.1 rad initial angular position around vertical axis. Under same conditions, ASTA STA had similar performances; they both have less chattering faster convergence than FOSMC approach. However, approach least energy delivered smallest errors two approaches.