Adaptive Sliding Mode Controller for an Inverted Pendulum

被引：0
|
作者：
Ghabi, Jalel [1 ]
Dhouibi, Hedi [1 ]
机构：
[1] Univ Kairouan, High Inst Appl Sci & Technol Kairouan, Kairouan, Tunisia
来源：
2018 15TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS AND DEVICES (SSD) | 2018年
关键词：
sliding mode control; adaptive; nonlinear system; uncertain; cart-inverted pendulum; NONLINEAR-SYSTEMS; ORDER;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents an adaptive sliding mode controller to stabilize a cart-inverted pendulum. The proposed approach ensures a dynamical adaptation of the control gain in order to be as small as possible whereas sufficient to counteract the system uncertainties. It guarantees a global stability of the closed loop system as well as chatter reduction. The effectiveness of the controller is applied to control the motion of an inverted pendulum used as a typical benchmark of nonlinear systems.
引用
收藏
页码：1397 / 1401
页数：5
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