{"title":"基于高阶微分观测器的旋转式倒立摆滑模控制","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":"{\"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}","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}
Sliding mode control of a Rotary Inverted Pendulum using higher order differential observer
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.
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