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
fDate :
31 Mar-2 Apr 1996
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;
Conference_Titel :
System Theory, 1996., Proceedings of the Twenty-Eighth Southeastern Symposium on
Conference_Location :
Baton Rouge, LA
Print_ISBN :
0-8186-7352-4
DOI :
10.1109/SSST.1996.493508
