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

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