Paper Title:
Adaptive Sliding Mode Controller Design for a Nonlinear Inverted Pendulum with Unknown Physical Parameters and its Experiment
  Abstract

In this paper, an adaptive sliding mode control (ASMC) method for a single inverted pendulum (IP) is proposed. The physical parameters are transformed into the model information, thus adaptive law for the IP can be designed with unknown physical parameters. By simulation and experiments, we found that the ASMC method can keep the IP in the upright position, with quick parameters adjustment and high degree of system robustness.

  Info
Periodical
Chapter
Chapter 1: Mechanic Manufacturing System and Automation
Edited by
Zhixiang Hou
Pages
50-53
DOI
10.4028/www.scientific.net/AMM.128-129.50
Citation
Q. He, J. K. Liu, "Adaptive Sliding Mode Controller Design for a Nonlinear Inverted Pendulum with Unknown Physical Parameters and its Experiment", Applied Mechanics and Materials, Vols. 128-129, pp. 50-53, 2012
Online since
October 2011
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