Control of the inverse pendulum based on sliding mode and model predictive control
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In: WSEAS Transactions on Systems and Control, Vol. 13, 60, 01.01.2018, p. 529-536.
Research output: Journal contributions › Journal articles › Research › peer-review
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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 -