TY - JOUR

T1 - Sliding mode and model predictive control for inverse pendulum

AU - Schwab, Karl Christian

AU - Schräder, Lennart

AU - Mercorelli, Paolo

AU - Lassen, Jan Thore

PY - 2019/1/1

Y1 - 2019/1/1

N2 - 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.

AB - 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.

KW - Key-words: Inverted pendulum

KW - Model Predictive Control

KW - Sliding Mode Control

KW - Underactuated system

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85071002617&partnerID=8YFLogxK

M3 - Journal articles

AN - SCOPUS:85071002617

VL - 14

SP - 190

EP - 195

JO - WSEAS Transactions on Systems and Control

JF - WSEAS Transactions on Systems and Control

SN - 1991-8763

M1 - 23

ER -