NDLI: Development of adaptive sliding-mode control for nonlinear dual-axis inverted-pendulum system

Content Provider	IEEE Xplore Digital Library
Author	Rong-Jong Wai Jeng-Dao Lee Li-Jung Chang
Copyright Year	2003
Description	Author affiliation: Dept. of Electr. Eng., Yuan Ze Univ., Chung-li, Taiwan (Rong-Jong Wai; Jeng-Dao Lee; Li-Jung Chang)
Abstract	Since the dynamic characteristics of a nonlinear inverted-pendulum mechanism are highly nonlinear and time varying, it is difficult to design a suitable control system that realizes real time stabilization and accurate tracking control at all time. In this study, an adaptive sliding-mode control system is implemented to control a dual-axis inverted-pendulum mechanism that is driven by permanent magnet (PM) synchronous motors. The energy conservation principle is adopted to build a mathematical model of the motor-mechanism-coupled system. Moreover, an adaptive sliding-mode control system is developed for stabilizing and tracking control of the dual-axis inverted-pendulum system, where an adaptive algorithm is investigated to relax the requirement of the bound of lumped uncertainty in the traditional sliding-mode control. In addition, numerical simulations show that the proposed control scheme provides high-performance dynamic characteristics and are robust with regard to parametric variations, various reference trajectories and different initial states.
Sponsorship	IEEE Ind. Electron. Soc.(IES) IEEE Robotics & Autom. Soc. (RAS) ASME Dynamic Syst. & Control Div. (DSC)
Starting Page	815
Ending Page	820
File Size	577017
Page Count	6
File Format	PDF
ISBN	0780377591
DOI	10.1109/AIM.2003.1225447
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-07-20
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Sliding mode control Control systems Nonlinear control systems Adaptive systems Nonlinear dynamical systems Time varying systems Real time systems Synchronous motors
Content Type	Text
Resource Type	Article

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