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Control of the inverse pendulum based on sliding mode and model predictive control

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Authors

In the present work two different rules are applied to the system of the inverse pendulum. On the one hand, Sliding Mode Control (SMC) is used to control the position and the angular velocity of the pendulum attached to the cart. On the other hand, Model Predictive Control (MPC) is implemented in order to control the trajectory of the cart in accordance with a desired movement profile. In order to counteract phenomena such as "chattering" as effectively as possible, various measures are implemented within the Sliding Mode Control.

OriginalspracheEnglisch
Aufsatznummer60
ZeitschriftWSEAS Transactions on Systems and Control
Jahrgang13
Seiten (von - bis)529-536
Anzahl der Seiten8
ISSN1991-8763
PublikationsstatusErschienen - 01.01.2018

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