Balance control of an inverted pendulum system using second-order sliding mode control

Yusie Rizal, Jhih Wei Syu, Ming Tzu Ho

研究成果: Conference contribution

4 引文 斯高帕斯(Scopus)

摘要

This paper presents the design of balance control for an inverted pendulum system. The system consists of a cart, linear motor and a pole. The pole is pivoted on the cart where the cart is actuated by a linear motor. The control objective is to stabilize the pole at its upright position. The second-order sliding mode control is used to design the stabilizing control law for the system. For comparison, we consider LQR (Linear Quadratic Regulator) control and first-order sliding mode control to stabilize the system. The dynamic model of the system is given. The linearized model of the system is used to design the LQR control law, while the nonlinear dynamic model is used to design first-order and second-order sliding mode control. The MATLAB/Simulink is used to conduct the simulation studies and the designed control laws are implemented on a digital signal processor. The effectiveness of the designed control laws is demonstrated in the simulations and experiments.

原文English
主出版物標題CACS 2014 - 2014 International Automatic Control Conference, Conference Digest
發行者Institute of Electrical and Electronics Engineers Inc.
頁面191-196
頁數6
ISBN(電子)9781479945849
DOIs
出版狀態Published - 2014 四月 28
事件2014 International Automatic Control Conference, CACS 2014 - Kaohsiung, Taiwan
持續時間: 2014 十一月 262014 十一月 28

出版系列

名字CACS 2014 - 2014 International Automatic Control Conference, Conference Digest

Other

Other2014 International Automatic Control Conference, CACS 2014
國家/地區Taiwan
城市Kaohsiung
期間14-11-2614-11-28

All Science Journal Classification (ASJC) codes

  • 控制與系統工程

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