Swing-up and Stabilization of Inverted Pendulum by a Simple Sliding Mode Controller.

DOI Web Site Web Site 6 Citations 12 References

Bibliographic Information

Other Title
  • 一つのスライディングモード制御則による倒立振り子の振り上げと安定化
  • 1ツ ノ スライディングモード セイギョソク ニ ヨル トウリツ フリコ ノ フリアゲ ト アンテイカ

Search this article

Abstract

Recently, development of a controller design technique for nonlinear system is required to improve the control performance. Sliding mode control technique is of considerable interest due to its capability to deal with nonlinear system easily. But the design technique for nonlinear system is not established. In this study, the design technique of sliding mode controller for nonlinear and unstable system is investigated using a inverted pendulum system as an example. A simple controller executing both swing-up and stabilization of inverted pendulum is developed using the nonlinear model, to which the sliding mode control technique is applied. Especially, the nonlinear hyper-plane is derived from the energy balance. In addition, a nonlinear model observer is designed to estimate the velocity of the cart and the angular velocity of the pendulum from these displacements. Then, the performance of the developed controller and observer is confirmed by numerical simulations and experiments. And, it is found out that the chatter of the control input is suppressed using the same precise nonlinear model in the controller and the observer.

Journal

Citations (6)*help

See more

References(12)*help

See more

Keywords

Details 詳細情報について

Report a problem

Back to top