Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5005515 | ISA Transactions | 2008 | 8 Pages |
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
Authors
Tzu-Chun Kuo, Ying-Jeh Huang, Shin-Hung Chang,