Article ID Journal Published Year Pages File Type
5005515 ISA Transactions 2008 8 Pages PDF
Abstract
A robust sliding mode control that follows a self-tuning law for nonlinear systems possessing uncertain parameters is proposed. The adjustable control gain and a bipolar sigmoid function are on-line tuned to force the tracking error to approach zero. Control system stability is ensured using the Lyapunov method. Both simulation and experimental application of a planetary gear type inverted pendulum control system verify the effectiveness of the developed approach.
Related Topics
Physical Sciences and Engineering Engineering Control and Systems Engineering
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