Title :
Chattering free SMC with robust observer and its application to inverted pendulum
Author :
Zhang, Xiaoyu ; Du, Zhiwei
Author_Institution :
Dept. of Electron. Inf. Eng., North China Inst. of Sci. & Technol., Beijing, China
Abstract :
Based on new designed second-order robust observer of the augmented system of nonlinear uncertain system, a continuous sliding mode control (SMC) design is presented. Eventually a low-passing filter is constituted by the designed controller. Thereby the chattering phenomenon in the control system is eliminated. Application simulation results of an inverted pendulum are reported to validate its performance and feasibility.
Keywords :
continuous systems; control system synthesis; low-pass filters; nonlinear control systems; observers; pendulums; robust control; uncertain systems; variable structure systems; augmented system; chattering free sliding mode control; continuous sliding mode control design; controller design; inverted pendulum; low-passing filter; nonlinear uncertain system; second-order robust observer; Artificial neural networks; Equations; Mathematical model; Nonlinear systems; Observers; Sliding mode control; Uncertain systems; Chattering Free; Nonlinear Systems; Sliding Mode Control;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5555171
