A Hybrid Energy Sliding Mode Controller for the Rotary Inverted Pendulum

Van Anh Nguyen, Duc Binh Pham, Duy Thi Pham, Ngoc Tam Bui, Quy Thinh Dao

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

The rotary inverted pendulum (RIP) is a classical and underactuated system with two degrees of freedom. In this paper, we concentrate on addressing the swing up and stabilization of the rotary inverted pendulum, which are its two fundamental issues. In the beginning, we proceed to model the system. The two problems described previously are then solved by an energy sliding mode controller (ESMC). The effectiveness of the controller has also been verified through simulation results under the influence of external disturbance.

本文言語English
ホスト出版物のタイトルAdvances in Engineering Research and Application - Proceedings of the International Conference on Engineering Research and Applications, ICERA 2022
編集者Duy Cuong Nguyen, Ngoc Pi Vu, Banh Tien Long, Horst Puta, Kai-Uwe Sattler
出版社Springer Science and Business Media Deutschland GmbH
ページ34-41
ページ数8
ISBN(印刷版)9783031221996
DOI
出版ステータスPublished - 2023
イベント5th International Conference on Engineering Research and Applications, ICERA 2022 - Thai Nguyen, Viet Nam
継続期間: 2022 12月 12022 12月 2

出版物シリーズ

名前Lecture Notes in Networks and Systems
602 LNNS
ISSN(印刷版)2367-3370
ISSN(電子版)2367-3389

Conference

Conference5th International Conference on Engineering Research and Applications, ICERA 2022
国/地域Viet Nam
CityThai Nguyen
Period22/12/122/12/2

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 信号処理
  • コンピュータ ネットワークおよび通信

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