Adaptive sliding mode controller design for a nonlinear inverted pendulum with unknown physical parameters and its experiment

摘要：

In this paper, an adaptive sliding mode control (ASMC) method for a single inverted pendulum (DP) is proposed. The physical parameters are transformed into the model information, thus adaptive law for the EP 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.

关键词： Adaptive control Sliding mode control Inverted pendulum

作者: He Qing Liu Jinkun

作者单位: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191 School of Automation Science and Electrical Engineering, Beihang University,Beijing 100191

会议类型: 国际会议

会议名称: 4th International Conference on Measuring Technology and Mechatronics Automation(第四届检测技术与机电自动化国际会议 ICMTMA 2012)

会议地点: 三亚

会议语种:英文

页码: 50-53

在线出版日期: 2012-01-06（万方平台首次上网日期，不代表论文的发表时间）