Sliding mode variable structure control for inverted pendulum visual servo systems

This paper investigates the Sliding Mode Variable Structure Control (SMVSC) for a class of typical Cyber-Physical Systems (CPSs), Inverted Pendulum Visual Servo Systems (IPVSSs). In the current CPSs SMVSC studies, the visual servo is rarely involved and there is a lack of the corresponding verification platform. In this paper, we propose an SMVSC algorithm for the self-developed IPVSS to encounter the time-varying Image Processing Computation Delay (IPCD) caused by visual servo. Within this framework, a linear sliding surface is constructed based on the Ackermann pole assignment method and an SMVSC law is given. In addition, the relationship between the IPCD and the stability of sliding motion on the specified linear sliding surface is quantified. Furthermore, we prove that the designed SMVSC law can guarantee the system state to reach the linear sliding surface in a finite time and remain stable for all subsequent time. Finally, the simulation and real-time control experiments verify the feasibility and effectiveness of the proposed method.