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

Qing He; Jin Kun Liu

doi:10.4028/www.scientific.net/AMM.128-129.50

Paper Titles

ADAMS-Based Double Wishbone Suspension Motion Simulation and Optimization
p.34

ADAMS-Based Dynamic Simulation on Driving Axle Gear Meshing
p.38

ADAMS-Based Vibrating Subsoiler System Simulation Analysis
p.42

Adaptive Fuzzy Velocity-Based Routing for MANET
p.46

Adaptive Sliding Mode Controller Design for a Nonlinear Inverted Pendulum with Unknown Physical Parameters and its Experiment
p.50

Algorithm Research of Cutter Location Path for Five-Axis NC Machining Based on Equal-Parametric
p.54

Algorithm Study of Face Recognition on Improved 2DLDA
p.58

An Effective CS-BP Algorithm for 2-D DOA Estimation
p.62

An Improved DV-Hop Algorithm Based on Entropy for WSN
p.66

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 128-129Adaptive Sliding Mode Controller Design for a...

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.

You might also be interested in these eBooks

Measuring Technology and Mechatronics Automation IV

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volumes 128-129)

Pages:

50-53

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.128-129.50

Citation:

Cite this paper

Online since:

October 2011

Authors:

Qing He, Jin Kun Liu

Keywords:

Adaptive Control, Inverted Pendulum, Sliding Mode Control (SMC)

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] Bellman, R., Kalaba, R., in: On adaptive control processes[J]. IEEE Transactions on Automatic Control, 1959 , 4(2): 1-9.

Google Scholar

[2] Wassim M. Haddad', VijaySekhar Chellaboinat, and Tomohisa Hayakawat, in: Robust Adaptive Control for Nonlinear Uncertain Systems[C]. Proeeedings of the 40th IEEE Conference on Decision and Control, USA, 2001: 1615-1620.

Google Scholar

[3] Utkin, V., in: Variable structure systems with sliding modes [J]. IEEE Transactions on Automatic Control, 1997 , 22(2): 212-222.

DOI: 10.1109/tac.1977.1101446

Google Scholar

[4] K. Pathak, J. Franch, and S. K. Agrawal, in: Velocity and position control of a wheeled inverted pendulum by partial feedback linearization[J]. IEEE Transactions on Robot, 2005, 21(3): 505–513.

DOI: 10.1109/tro.2004.840905

Google Scholar

[5] Cansever.G., and Ozguven O.F., in: Application of fuzzy set theory to stabilization of an inverted pendulum by high speed fuzzy logic controller[C]. Proceedings of 7th Mediterranean on Electro technical Conference. Antalya , Turkey, 1994: 1085 - 1088.

DOI: 10.1109/melcon.1994.380881

Google Scholar

[6] Seikiguchi, M., Sugasaka, T., and Nagata, S., in: Control of a multivariable system by a neural network inverted pendulum[C]. Proceedings of IEEE International Conference on Robotics and Automation. Sacramento, CA, 1991: 2644 – 2649.

DOI: 10.1109/robot.1991.132028

Google Scholar

[7] A. Ebrahim and G.V. Murphy., in: Adaptive backstepping controller design of an inverted pendulum[C]. Proceedings of the Thirty-Seventh Southeastern Symposium on System Theory. Atlanta, USA, 2005: 172-174.

DOI: 10.1109/ssst.2005.1460900

Google Scholar

[8] Hemami, H. , Weimer, F. , Koozekanani, S., in: Some aspects of the inverted pendulum problem for modeling of locomotion systems[J]. IEEE Transactions on Automatic Control, 1973, 18(6), 658-661.

DOI: 10.1109/tac.1973.1100432

Google Scholar