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Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

Journal of Robotics and Control (JRC) · Vol. 3 No. 1 (2021) · hlm. 86–92

DOI
10.18196/jrc.v3i1.12739
ISSN
2715-5072, 2715-5056
Terbit
2021-11-14
Penerbit
Universitas Muhammadiyah Yogyakarta
Bahasa
eng

Abstrak

The inverted pendulum system is highly popular in control system applications and has the characteristics of unstable, nonlinear, and fast dynamics. A nonlinear controller is needed to control a system with these characteristics. In addition, there are disturbances and parameter uncertainty issues to be solved in the inverted pendulum system. Therefore, this study uses a nonlinear controller, which is the backstepping sliding mode control. The controller is robust to parameter uncertainty and disturbances so that it is suitable for controlling an inverted pendulum system. Based on testing with step and sine reference signals without interference, the controller can stabilize the system well and has a fast response. In testing with disturbances and mass uncertainty, the backstepping sliding mode controller is robust against these changes and able to make the system reach the reference value. Compared with sliding mode control, backstepping sliding mode control has a better and more robust response to disturbances and parameter uncertainty.

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  • Polytechnic School of Algiers
  • University Frères Mentouri Constantine 1
  • University Ferhat Abbas of Setif
  • Hasanuddin University
  • Ecole Nationale d'Ingénieurs de Monastir
  • University of Hassan II Casablanca
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  • Organisasi berbeda
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Rekan penulisOrganisasiArtikel bersama
Iswanto SuwarnoAfiliasi tidak diketahui6
Hari MaghfirohAfiliasi tidak diketahui4
Furizal FurizalAfiliasi tidak diketahui4
Davut IzciAfiliasi tidak diketahui4
Serdar EkinciAfiliasi tidak diketahui4
Miftahul AnwarAfiliasi tidak diketahui2
Mahmoud A. MossaAfiliasi tidak diketahui2
N. S. AbuAfiliasi tidak diketahui2
W. M. BukhariAfiliasi tidak diketahui2
M.H. AdliAfiliasi tidak diketahui2
Feri AdriyantoAfiliasi tidak diketahui2
Mostafa JabariAfiliasi tidak diketahui2
Sakina BenrabahUniversity Frères Mentouri Constantine 11
Bachir BouroubaUniversity Ferhat Abbas of Setif1
Muhammad NizamHasanuddin University1
Joko Slamet SaputroAfiliasi tidak diketahui1
Berlian Shanaza AndianyAfiliasi tidak diketahui1
Chico HermanuAfiliasi tidak diketahui1
Rio Ikhsan AlfianAfiliasi tidak diketahui1
Sunardi SunardiAfiliasi tidak diketahui1
Naufal Rahmat SetiawanAfiliasi tidak diketahui1
Marco Antonio Marquez VeraAfiliasi tidak diketahui1
Magdi Sadek MahmoudAfiliasi tidak diketahui1
Edwin UmohAfiliasi tidak diketahui1
Ahmed Jaber AbougarairAfiliasi tidak diketahui1
Safinta Nurindra RahmadhiaAfiliasi tidak diketahui1
Reza AlayiAfiliasi tidak diketahui1
Yaser EbazadehAfiliasi tidak diketahui1
Ferydon GharadaghiAfiliasi tidak diketahui1
Farnaz JahanbinAfiliasi tidak diketahui1
Nima ShafaghatianAfiliasi tidak diketahui1
Hamdi EcheikhEcole Nationale d'Ingénieurs de Monastir1
Mohamed MoutchouUniversity of Hassan II Casablanca1
Yassine ZahraouiAfiliasi tidak diketahui1

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Sumber metadata: OAI-PMH (metadata jurnal) https://journal.umy.ac.id/index.php/jrc/oai, pertama di-harvest 9 Nov 2026, terakhir terlihat 9 Nov 2026.
Metadata asli (oai_dc) 
<oai_dc:dc xmlns="http://www.openarchives.org/OAI/2.0/" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/  http://www.openarchives.org/OAI/2.0/oai_dc.xsd">
	<dc:title xml:lang="en-US">Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty</dc:title>
	<dc:creator>Ma'arif, Alfian</dc:creator>
	<dc:creator>Antonio Márquez Vera, Marco</dc:creator>
	<dc:creator>Sadek Mahmoud, Magdi</dc:creator>
	<dc:creator>Ladaci, Samir</dc:creator>
	<dc:creator>Çakan, Abdullah</dc:creator>
	<dc:creator>Niño Parada, Jonattan</dc:creator>
	<dc:subject xml:lang="en-US">Inverted Pendulum</dc:subject>
	<dc:subject xml:lang="en-US">Backstepping</dc:subject>
	<dc:subject xml:lang="en-US">Sliding Mode Control</dc:subject>
	<dc:subject xml:lang="en-US">Nonlinear</dc:subject>
	<dc:subject xml:lang="en-US">Disturbance</dc:subject>
	<dc:subject xml:lang="en-US">Uncertainty</dc:subject>
	<dc:description xml:lang="en-US">The inverted pendulum system is highly popular in control system applications and has the characteristics of unstable, nonlinear, and fast dynamics. A nonlinear controller is needed to control a system with these characteristics. In addition, there are disturbances and parameter uncertainty issues to be solved in the inverted pendulum system. Therefore, this study uses a nonlinear controller, which is the backstepping sliding mode control. The controller is robust to parameter uncertainty and disturbances so that it is suitable for controlling an inverted pendulum system. Based on testing with step and sine reference signals without interference, the controller can stabilize the system well and has a fast response. In testing with disturbances and mass uncertainty, the backstepping sliding mode controller is robust against these changes and able to make the system reach the reference value. Compared with sliding mode control, backstepping sliding mode control has a better and more robust response to disturbances and parameter uncertainty.</dc:description>
	<dc:publisher xml:lang="en-US">Universitas Muhammadiyah Yogyakarta</dc:publisher>
	<dc:date>2021-11-14</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://journal.umy.ac.id/index.php/jrc/article/view/12739</dc:identifier>
	<dc:identifier>10.18196/jrc.v3i1.12739</dc:identifier>
	<dc:source xml:lang="en-US">Journal of Robotics and Control (JRC); Vol. 3 No. 1 (2022): January; 86-92</dc:source>
	<dc:source>2715-5072</dc:source>
	<dc:source>2715-5056</dc:source>
	<dc:source>10.18196/jrc.v3i1</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://journal.umy.ac.id/index.php/jrc/article/view/12739/6833</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2021 Alfian Ma'arif</dc:rights>
</oai_dc:dc>