Multiple Layers Sliding Mode Control for Inverted Pendulum Systems
Aiming at inverted pendulum system which is a class of under-actuated system, the nonlinear balance controller is design by multiple layers sliding mode control. The design method of sliding surface and sliding mode controller are presented. Simulation study and comparison of two controller design methods are given. Simulation results show that more larger basin o attraction can be achieved by multiple layers sliding mode control method comparing with common sliding mode control method.
Sliding mode control Inverted Pendulum Under-actuated System Basin of Attraction
Shi Hongjun Zheng Yan
School of Information Science and Engineering, Northeastern University, Shenyang, 110004
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
2796-2800
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）