DocumentCode
1706769
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
fYear
2010
Firstpage
3831
Lastpage
3834
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location
Jinan
Print_ISBN
978-1-4244-6712-9
Type
conf
DOI
10.1109/WCICA.2010.5555171
Filename
5555171
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