Quasi-sliding Mode Control for Single Inverted Pendulum System
Inverted pendulum system is a nonlinear, coupling, multi-variable and unstable system. Because the inverted pendulum system exists all kinds of disturbs inevitably, the states have errors and the accuracy of control drops. In this paper, quasi-sliding mode control is used to achieve optimal control. First, the state-space model of the system is created by force analysis. Then, in the design of the controller, we make use of the sliding mode control, which has the advantage of anti-interference. To reduce the chattering phenomenon, we utilize saturation function in the reaching low design. The simulation results show the effective of the method.
single inverted pendulum quasi-sliding mode stability
Wang Hong-mei Zhang Hou-sheng
School of Electrical & Electronic Engineering Shandong University of Technology Zibo, China
国际会议
海口
英文
526-528
2011-02-22（万方平台首次上网日期，不代表论文的发表时间）