Title :
Controller design and simulation of underactuated pendulum
Author :
Liu, Zhiping ; Yan, Qianshi
Author_Institution :
Sch. of Comput. Sci. & Eng., Xi´´an Technol. Univ., Xi´´an, China
Abstract :
This paper presents a theoretical frame for inverted pendulum control system, only one control input is added to the system, horizontal force or vertical moment respectively. Underactuated control system formulation of inverted pendulum is addressed based on sliding mode control theory, simulation was performed under the MATLAB environment, the simulation results show that controller design of this kind of underactuated system is complex, many factors such as sensors, actuators, characteristics of plant and various uncertainties are considered thoroughly, simulation results verify the effectiveness of proposed controller.
Keywords :
actuators; control system synthesis; nonlinear control systems; variable structure systems; MATLAB simulation; controller design; horizontal force; inverted pendulum control system; sliding mode control theory; underactuated control system; underactuated pendulum simulation; vertical moment; Equations; Force; Mathematical model; Simulation; Trajectory; Uncertainty; Pendulum; Simulation; Sliding mode control; Underactuated system;
Conference_Titel :
Control and Decision Conference (CCDC), 2011 Chinese
Conference_Location :
Mianyang
Print_ISBN :
978-1-4244-8737-0
DOI :
10.1109/CCDC.2011.5968681
