Controller Design and Simulation of Underactuated Pendulum
This paper presents a theoretical frame for inverted pendulum control system, only one control input is added to the system, horizontal force or vertical moment respectively. Underactuated control system formulation of inverted pendulum is addressed based on sliding mode control theory, simulation was performed under the MATLAB environment, the simulation results show that controller design of this kind of underactuated system is complex, many factors such as sensors, actuators, characteristics of plant and various uncertainties are considered thoroughly, simulation results verify the effectiveness of proposed controller.
Pendulum Underactuated system Sliding mode control Simulation.
Zhiping Liu Qianshi Yan
School of Computer Science and Engineering, Xi’an technological university, Xi’an, 710032, P.R.China
国际会议
2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)
四川绵阳
英文
2772-2776
2011-05-23（万方平台首次上网日期，不代表论文的发表时间）