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

fYear

2011

fDate

23-25 May 2011

Firstpage

2767

Lastpage

2771

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (CCDC), 2011 Chinese

Conference_Location

Mianyang

Print_ISBN

978-1-4244-8737-0

Type

conf

DOI

10.1109/CCDC.2011.5968681

Filename

5968681