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

Research output: Journal contributionsJournal articlesResearchpeer-review

Standard

Control of the inverse pendulum based on sliding mode and model predictive control. / Schwab, Karl Christian; Schräder, Lennart; Mercorelli, Paolo et al.
In: WSEAS Transactions on Systems and Control, Vol. 13, 60, 01.01.2018, p. 529-536.

Research output: Journal contributionsJournal articlesResearchpeer-review

Harvard

APA

Vancouver

Bibtex

@article{bec76ebe2f3e47f9a48d5d57cde95529,
title = "Control of the inverse pendulum based on sliding mode and model predictive control",
abstract = "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.",
keywords = "Inverted pendulum, Model predictive Control, Sliding mode control, Underactuated system, Engineering",
author = "Schwab, {Karl Christian} and Lennart Schr{\"a}der and Paolo Mercorelli and Lassen, {Jan Thore}",
year = "2018",
month = jan,
day = "1",
language = "English",
volume = "13",
pages = "529--536",
journal = "WSEAS Transactions on Systems and Control",
issn = "1991-8763",
publisher = "World Scientific and Engineering Academy and Society - WSEAS",

}

RIS

TY - JOUR

T1 - Control of the inverse pendulum based on sliding mode and model predictive control

AU - Schwab, Karl Christian

AU - Schräder, Lennart

AU - Mercorelli, Paolo

AU - Lassen, Jan Thore

PY - 2018/1/1

Y1 - 2018/1/1

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 - Inverted pendulum

KW - Model predictive Control

KW - Sliding mode control

KW - Underactuated system

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85061224807&partnerID=8YFLogxK

UR - http://wseas.org/wseas/cms.action?id=18776

M3 - Journal articles

AN - SCOPUS:85061224807

VL - 13

SP - 529

EP - 536

JO - WSEAS Transactions on Systems and Control

JF - WSEAS Transactions on Systems and Control

SN - 1991-8763

M1 - 60

ER -

Documents

Links

Recently viewed

Activities

  1. Policing protest by simulation
  2. Trajectory-based Lagrangian approaches for the extraction and characterization of coherent structures in turbulent convection
  3. Ambiguity machine. The art and politics of disorganizing urban space
  4. A piezo servo hydraulic actuator for use in camless combustion engines and its control with MPC
  5. Learning through play? Evaluating digital games for language learning
  6. Blogs in the Foreign Language Classroom
  7. Sino-German Summer School on Design and data analysis of biodiversity-ecosystem functioning experiments 2011
  8. Presentation of the paper entitled: "Controlling a Bank Model Economy by Using an Adaptive Model Predictive Control with Help of an Extended Kalman Filter"
  9. Linguistic Determines Mathematics: How Linguistic Item Characteristics Influence the Difficulty of Mathematics Test Ttems
  10. Conference of SIG4 'Higher Education' & SIG17 'Qualitative and Quantitative Approaches to Learning and Instruction'
  11. Global Classroom. Introduction, presentation and workshop
  12. Spec­tral Ki­ne­tic Si­mu­la­ti­on of Ideal Mul­ti­po­le Re­so­nan­ce Probe
  13. Mental Parsing as A Mixed Blessing for Integrative Agreements: When Parsing Multiple Issues into Separate Mental Accounts Helps Versus Hurts Negotiators.
  14. Co-Production of Knowledge
  15. Competency-oriented written feedback in every-day mathematics teaching: How to report on students’ solutions of modelling tasks and how to assess the quality of these reports
  16. Winding the Sociotechnical Mangle of Organization
  17. Preliminary selection of experimental techniques in Subtask D

Publications

  1. Evaluation of Time/Phase Parameters in Frequency Measurements for Inertial Navigation Systems
  2. Machine Learning and Knowledge Discovery in Databases
  3. Clustering Hydrological Homogeneous Regions and Neural Network Based Index Flood Estimation for Ungauged Catchments
  4. Gain Scheduling Controller for Improving Level Control Performance
  5. The role of reading time complexity and reading speed in text comprehension
  6. A denoising procedure using wavelet packets for instantaneous detection of pantograph oscillations
  7. Don’t underestimate the problems of user centredness in software development projectsthere are many!?
  8. Control condition design and implementation features in controlled trials
  9. Latent structure perceptron with feature induction for unrestricted coreference resolution
  10. Using cross-recurrence quantification analysis to compute similarity measures for time series of unequal length with applications to sleep stage analysis
  11. Understanding the socio-technical aspects of low-code adoption for software development
  12. Beyond Path Dependency
  13. Database on Learning for Sustainable Development – analysis of projects
  14. Robust Flatness Based Control of an Electromagnetic Linear Actuator Using Adaptive PID Controller
  15. Considerations on efficient touch interfaces - How display size influences the performance in an applied pointing task
  16. Understanding reading as a form of language-use
  17. Stimulating Computing
  18. Introducing split orders and optimizing operational policies in robotic mobile fulfillment systems
  19. Robust feedback linearization control of a throttle plate by using an approximated pd regulator
  20. TRY plant trait database – enhanced coverage and open access
  21. Model predictive control for switching gain adaptation in a sliding mode controller of a DC drive with nonlinear friction
  22. Homogenization methods for multi-phase elastic composites
  23. Adjustable automation and manoeuvre control in automated driving
  24. Performance predictors for graphics processing units applied to dark-silicon-aware design space exploration
  25. Evaluating a Bayesian Student Model of Decimal Misconceptions
  26. The identification of up-And downstream industries using input-output tables and a firm-level application to minority shareholdings
  27. The structure of emotions in learning situations
  28. Detection of coherent oceanic structures via transfer operators
  29. Introduction: The representative turn in EU studies