Title :
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
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;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.783199
