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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Kuo, T.C. Huang, Y.J. Hong, B.W. |
| Copyright Year | 2009 |
| Description | Author affiliation: Department of Electrical Engineering, Ching Yun University, 229 Chien-Hsin Rd., Chungli 320, Taiwan (Kuo, T.C.) || Department of Electrical Engineering, Yuan Ze University, 135 Far-East Road, Chungli 320, Taiwan (Huang, Y.J.; Hong, B.W.) |
| Abstract | In this paper, a novel adaptive PID with sliding mode control for the rotary inverted pendulum is proposed. The goal is to achieve system robustness against parameter variations and external disturbances. In this study, the three parameters of PID controller, proportional gain, integral gain, and derivative gain can be systematically obtained according to the adaptive law. Further reduction of the high frequency chattering in the controller is achieved by using the boundary layer technique. The proposed control method is applied to a rotary inverted pendulum control system. By using Lyapunov theorem, the stability and convergence of the proposed scheme is proven. Simulation results show that the chattering and the steady state error are eliminated and trajectory tracking is achieved effectively. |
| Starting Page | 1804 |
| Ending Page | 1809 |
| File Size | 333595 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424428526 |
| DOI | 10.1109/AIM.2009.5229784 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-07-14 |
| Publisher Place | Singapore |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Programmable control Adaptive control Three-term control Sliding mode control Control systems Robustness PD control Pi control Proportional control Frequency |
| Content Type | Text |
| Resource Type | Article |
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