Title: Efficient combined non-singular fast terminal sliding mode control for robust balancing of inverted pendulum cart

Authors: Iman Faraj; Jasim Khawwaf

Addresses: Electrical Engineering Department, Faculty of Engineering, University of Kufa, Najaf, Iraq ' Department of Electronic and Communication Engineering, Faculty of Engineering, University of Kufa, Najaf 540011, Iraq

Abstract: The inverted pendulum cart system is widely recognised as a challenging benchmark in control systems and robotics due to its inherent instability and significant nonlinearity. This paper proposes a control methodology based on non-singular fast terminal sliding mode (NFTSM) to stabilise this system. A comparative analysis of the proposed NFTSM approach against various nonlinear techniques such as classical sliding mode control (SMC), terminal sliding mode (TSM), fast terminal sliding mode (FTSM), and non-terminal sliding mode (NTSM) has been conducted. These methods have been evaluated based on their effectiveness in controlling the inverted pendulum cart. Simulation results demonstrate that the proposed NFTSM offers superior accuracy, rapid response, resilience to uncertainties, disturbance rejection, reduced chattering, and elimination of singularities. The results further reveal that the proposed NFTSM yields lower RMS error, highlighting its efficiency over the compared techniques.

Keywords: SIMO underactuated system; inverted pendulum cart; combined non-singular fast terminal sliding mode; nonlinear systems; robust control.

DOI: 10.1504/IJAMECHS.2025.145730

International Journal of Advanced Mechatronic Systems, 2025 Vol.12 No.2, pp.93 - 105

Received: 21 Sep 2024
Accepted: 24 Dec 2024
Published online: 17 Apr 2025 *

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