Title :
Adaptive neuro sliding mode control for inverted pendulum
Author_Institution :
Sch. of Electr. & Inf. Eng., Xuchang Univ., Xuchang, China
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;
Conference_Titel :
Computer Engineering and Technology (ICCET), 2010 2nd International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-6347-3
DOI :
10.1109/ICCET.2010.5486253
