• DocumentCode
    3410464
  • Title

    Sliding mode control of an inverted pendulum

  • Author

    Grossimon, Paul G. ; Barbieri, Enrique ; Drakunov, Sergey

  • Author_Institution
    Dept. of Electr. Eng., Tulane Univ., New Orleans, LA, USA
  • fYear
    1996
  • fDate
    31 Mar-2 Apr 1996
  • Firstpage
    248
  • Lastpage
    252
  • Abstract
    This paper considers a sliding mode controller for a rotational inverted pendulum. The purpose of this paper is to familiarize the reader with the strengths of sliding mode control on a very popular system. Another purpose is to reveal the authors´ unique surface design which permits the pendulum angle (θdes) to be a function of the base angle (β):θdes(β). A brief background on sliding mode and the pendulum´s dynamic equations are provided. Simulations for two test cases are presented with figures
  • Keywords
    control system synthesis; position control; variable structure systems; rotational inverted pendulum; sliding mode control; surface design; Arm; Control system synthesis; Control systems; Equations; Pi control; Proportional control; Robots; Sliding mode control; System testing; Three-term control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    System Theory, 1996., Proceedings of the Twenty-Eighth Southeastern Symposium on
  • Conference_Location
    Baton Rouge, LA
  • ISSN
    0094-2898
  • Print_ISBN
    0-8186-7352-4
  • Type

    conf

  • DOI
    10.1109/SSST.1996.493508
  • Filename
    493508
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3410464