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2019•Unpublished venueRequires access

Numerical Design Method for Nonlinear Sliding Mode Control of Inverted Pendulum

Jianfeng Cui

Open publisher page 3 citations

Abstract

The design of nonlinear sliding mode controller for the rotary inverted pendulum needs the analytical derivations and affine decomposition to tackle the system model, which could be a very complex or even an unsolvable task. So, a numerical design method for nonlinear sliding mode control is proposed in this paper. The control laws are tested in a simulated and real-time experimental environment in which external disturbances are injected, and the performance of the approach is then discussed.

About this research paper

What this paper is about

The design of nonlinear sliding mode controller for the rotary inverted pendulum needs the analytical derivations and affine decomposition to tackle the system model, which could be a very complex or even an unsolvable task. So, a numerical design method for nonlinear sliding mode control is proposed in this paper. The control laws are tested in a simulated and real-time experimental environment in which external disturbances are injected, and the performance of the approach is then discussed.

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OpenAlex reports 3 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

The design of nonlinear sliding mode controller for the rotary inverted pendulum needs the analytical derivations and affine decomposition to tackle the system model, which could be a very complex or even an unsolvable task. So, a numerical design method for nonlinear sliding mode control is proposed in this paper. The control laws are tested in a simulated and real-time experimental environment in which external disturbances are injected, and the performance of the approach is then discussed.

Key concepts: Inverted pendulum, Control theory (sociology), Sliding mode control, Nonlinear system, Controller (irrigation), Mode (computer interface), Computer science, Affine transformation

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