Stabilization of an inverted pendulum with CMAC in a variable structure controller

Author

Bottura, Celso Pascoli ; Teixeira, Marcelo Carvalho Minhoto ; Bordon, Maurício José

Author_Institution

DMCSI, Brazil

Volume

2

fYear

1999

fDate

2-4 Jun 1999

Firstpage

1042

Abstract

The ability of CMAC in the reproduction of arbitrary functions is used to approximate an unknown system dynamics in order to satisfy the existence conditions of a sliding mode in a discontinuity surface without the knowledge of plant parameters. If the system is written in a controllable canonical form, then designing a discontinuity surface is not dependent on the coefficients of matrix A and the complete access to the state of the plant is enough to guarantee the robustness of the controller

Keywords

cerebellar model arithmetic computers; dynamics; function approximation; neurocontrollers; pendulums; robust control; variable structure systems; CMAC neural nets; discontinuity surface; function approximation; inverted pendulum; matrix algebra; robustness; sliding mode; stability; stabilization; system dynamics; variable structure systems; Control systems; Control theory; Convergence; Process control; Quantization; Resumes; Robust control; Sliding mode control; Stability; Surface treatment;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1999. Proceedings of the 1999

Conference_Location

San Diego, CA

ISSN

0743-1619

Print_ISBN

0-7803-4990-3

Type

conf

DOI

10.1109/ACC.1999.783199

Filename

783199