Adaptive neuro sliding mode control for inverted pendulum

Author

Wu, Wang

Author_Institution

Sch. of Electr. & Inf. Eng., Xuchang Univ., Xuchang, China

Volume

1

fYear

2010

fDate

16-18 April 2010

Abstract

A nonlinear sliding mode control method is presented for single inverted pendulum position tracking control based on RBF neural networks. The neuro sliding mode controller was designed with RBF neural networks and the stability of the proposed control scheme is proved by Lyapnouv theorem, also the control scheme is applied to the nonlinear inverted pendulum system, simulation studies shows the methods is effective and can applied into nonlinear control system.

Keywords

Lyapunov methods; adaptive control; neurocontrollers; nonlinear control systems; position control; radial basis function networks; variable structure systems; Lyapnouv theorem; RBF neural networks; adaptive neuro sliding mode control; inverted pendulum position tracking control; nonlinear sliding mode control method; Adaptive control; Biological control systems; Control systems; Legged locomotion; Neural networks; Nonlinear control systems; Nonlinear systems; Programmable control; Radial basis function networks; Sliding mode control; inveted pendulumr; neural network control; nonlinear system; simulation; sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Engineering and Technology (ICCET), 2010 2nd International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-6347-3

Type

conf

DOI

10.1109/ICCET.2010.5486253

Filename

5486253