{"title":"Sliding mode control of a Rotary Inverted Pendulum using higher order differential observer","authors":"Philippe Faradja, Guoyuan Qi, Martial Tatchum","doi":"10.1109/ICCAS.2014.6987548","DOIUrl":null,"url":null,"abstract":"The Inverted Pendulum is the benchmark system for control methods. Most linear controllers are not efficient under the situations of disturbances and other uncertainties. As high precision and robustness are required, a sliding mode controller is used in this work. Due to uncertainties, a model free based observer is used to estimate some states. The simulation and real experiment results demonstrate the robustness of the controller and the efficiency of a model free observer.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"73 1","pages":"1123-1127"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICCAS.2014.6987548","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
Abstract
The Inverted Pendulum is the benchmark system for control methods. Most linear controllers are not efficient under the situations of disturbances and other uncertainties. As high precision and robustness are required, a sliding mode controller is used in this work. Due to uncertainties, a model free based observer is used to estimate some states. The simulation and real experiment results demonstrate the robustness of the controller and the efficiency of a model free observer.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
