Sliding Mode Variable Structural Control of Nonlinear Inverted Pendulum

Abstract:

In this paper, the multi-input linear and nonlinear mathematical differential equations of inverted pendulum system were established based on the traditional single-input linear inverted pendulum. Aiming at multi-input nonlinear model, nonlinear state transformation are carried through on the basis of the test of distribution involution and the calculation of integral manifold, then, the multi-input nonlinear inverted pendulum system was transformed into two single-input nonlinear inverted pendulum system to study. In the end, make use of related nonlinear system control theory of the sliding mode variable structure, designed the controller structure.

• Periodical: Advanced Materials Research (Volumes 433-440)
• Pages: 74-80
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.433-440.74
• Online since: January 2012
• Authors: Jian Zhong Sun, Jian Kang Lu, Bin Yang, Jun Li Li
• Keywords: Inverted Pendulum, Multi-Input Nonlinear, Sliding Mode Variable Structure, State Transformation

References

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DOI: 10.1016/0167-6911(90)90030-x

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