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

页码：1397 / 1401

页数：5

共 50 条

[21] Control of rotary double inverted pendulum system using LQR sliding surface based sliding mode controller
Sanjeewa, Sondarangallage D. A.
Parnichkun, Manukid
JOURNAL OF CONTROL AND DECISION, 2022, 9 (01) : 89 - 101
[22] Design of Sliding Mode Controller Based on High-Gain Observer of Inverted Pendulum On a Cart
Liu, Qixing
Lv, Zongyang
Wu, Yuhu
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 846 - 851
[23] Design of hybrid sliding mode controller based on fireworks algorithm for nonlinear inverted pendulum systems
Su, Te-Jen
Wang, Shih-Ming
Li, Tsung-Ying
Shih, Sung-Tsun
Hoang, Van-Manh
ADVANCES IN MECHANICAL ENGINEERING, 2017, 9 (01)
[24] Indirect Adaptive Fuzzy Sliding Mode Control of 3D Inverted Pendulum
Goltapeh, Akbar Nikzad
Shokouhyan, Mohammad Reza
Motekallem, Abolfazl
Sharifi, Mojtaba
2017 IEEE 4TH INTERNATIONAL CONFERENCE ON KNOWLEDGE-BASED ENGINEERING AND INNOVATION (KBEI), 2017, : 919 - 924
[25] Second Order Sliding Mode Control for Inverted Pendulum
Jedda, Olfa
Ghabi, Jalel
Douik, Ali
2015 IEEE 12TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS & DEVICES (SSD), 2015,
[26] Second Order Sliding Mode Control of the Inverted Pendulum
Voliansky, R. S.
Sadovoi, A. V.
2017 INTERNATIONAL CONFERENCE ON MODERN ELECTRICAL AND ENERGY SYSTEMS (MEES), 2017, : 224 - 227
[27] Fuzzy sliding mode control of rotary inverted pendulum
Khanesar, M. Ahmadieh
Teshnehlab, M.
Shoorehdeli, M. Aliyari
ICCC 2007: 5TH IEEE INTERNATIONAL CONFERENCE ON COMPUTATIONAL CYBERNETICS, PROCEEDINGS, 2007, : 57 - 62
[28] Design Robust Adaptive Controller for Inverted Pendulum System
Mi, Yang
Li, Wenlin
2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11, 2008, : 4962 - +
[29] An adaptive swing-up sliding mode controller design for a real inverted pendulum system based on Culture-Bees algorithm
Al-Araji, Ahmed S.
EUROPEAN JOURNAL OF CONTROL, 2019, 45 : 45 - 56
[30] Chaos control using an adaptive fuzzy sliding mode controller with application to a nonlinear pendulum
Bessa, Wallace M.
de Paula, Aline S.
Savi, Marcelo A.
CHAOS SOLITONS & FRACTALS, 2009, 42 (02) : 784 - 791

← 1 2 3 4 5 →