Sliding Mode Control of Double Inverted Pendulum Based on a Novel Approach Law

DOI

10.2991/itms-15.2015.353How to use a DOI?

Keywords

inverted pendulum; sliding mode; approach law; chattering

Abstract

In this paper, a sliding mode controller based on new type of approach law is applied to double inverted pendulum(DIP) in order to weaken the chattering and shorten the approaching time, ensure the system to achieve better dynamic quality and stabilize the DIP system around equilibrium states. Further, theoretical proof is given to demonstrate the feasibility of the proposed method. Experimental results of implementing proposed controller show a high performance of it in comparison to traditional exponential approach law.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - L.F. Sun
AU  - C.Y. Fu
PY  - 2015/11
DA  - 2015/11
TI  - Sliding Mode Control of Double Inverted Pendulum Based on a Novel Approach Law
BT  - Proceedings of the 2015 International Conference on Industrial Technology and Management Science
PB  - Atlantis Press
SP  - 1448
EP  - 1451
SN  - 2352-538X
UR  - https://doi.org/10.2991/itms-15.2015.353
DO  - 10.2991/itms-15.2015.353
ID  - Sun2015/11
ER  -