Stabilization and tracking control of X-Z inverted pendulum with sliding-mode control

被引：37

作者：

Wang, Jia-Jun ^{[1
]}

机构：

[1] Hangzhou Dianzi Univ, Sch Automat, Hangzhou 310018, Zhejiang, Peoples R China

来源：

ISA TRANSACTIONS | 2012年 / 51卷 / 06期

关键词：

X-Z inverted pendulum; Stabilization; Tracking control; Sliding-mode control; VERTICAL FORCES; CONTROL DESIGN; SYSTEM;

D O I：

10.1016/j.isatra.2012.06.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

X-Z inverted pendulum is a new kind of inverted pendulum which can move with the combination of the vertical and horizontal forces. Through a new transformation, the X-Z inverted pendulum is decomposed into three simple models. Based on the simple models, sliding-mode control is applied to stabilization and tracking control of the inverted pendulum. The performance of the sliding mode control is compared with that of the PID control. Simulation results show that the design scheme of sliding-mode control is effective for the stabilization and tracking control of the X-Z inverted pendulum. (c) 2012 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：763 / 770

页数：8

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