Swing Up and Balancing Implementation for The Pendubot Using Advanced Sliding Mode Control

被引：0

作者：

Cao Van Kien ^{[1
]}

Nguyen Ngoc Son ^{[1
]}

Ho Pham Huy Anh ^{[1
]}

机构：

[1] HCM City Univ Technol, FEEE, DCSELAB, VNU HCM, Ho Chi Minh, Vietnam

来源：

PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON ELECTRICAL, AUTOMATION AND MECHANICAL ENGINEERING (EAME 2015) | 2015年 / 13卷

关键词：

pendubot; advanced sliding mode control; swing up; balancing scheme;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an advanced sliding mode control (ASMC) with integral sliding function is proposed for the pendubot system which is a planar two degree of freedom (2-DOF) robotic arm in the vertical plane with an actuator at the shoulder, but no actuator at the elbow. Using MATLAB/SIMULINK environment, the pendubot dynamics is implemented and the proposed ASMC control is applied for swing-up and balancing tasks the pendubot as to well follow with various trajectories. Simulation results demonstrate the performance and effectiveness of the proposed ASMC control in comparison with conventional sliding mode control applied in swing-up and balancing scheme of the pendubot system.

引用

页码：389 / 392

页数：4

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