倒立摆系统的连续滑模控制器设计

2016 Second International Innovative Applications of Computational Intelligence on Power, Energy and Controls with their Impact on Humanity (CIPECH) Pub Date : 2016-11-01 DOI:10.1109/CIPECH.2016.7918777

Saurabh Saini, B. Pratap, Surinder Singh

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引用次数: 0

摘要

本文采用连续滑模控制技术，提出了一种用于倒立摆系统的非线性鲁棒控制器。通过替换积分滑模控制(ISMC)方法中的不连续单元，得到CSMC。采用超扭转控制算法作为干扰估计器，抑制了干扰的影响。该方法完全消除了传统ISMC中由于不连续项而产生的抖振效应。最后，通过仿真结果验证了所提控制方案的优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Continuous sliding mode controller design for inverted pendulum system

This paper presents a non linear robust controller for inverted pendulum system (IPS) using continuous sliding mode control (CSMC) technique. The CSMC is obtained by replacing the discontinuous element of integral sliding mode control (ISMC) approach. The super twisting control algorithm is used as a disturbance estimator which rejects the effect of disturbances. The undesirable chattering effect due to discontinuous term present in conventional ISMC has been completely removed using proposed continuous approach. Finally, the superiority of proposed control scheme has been demonstrated throw simulation results to depict its effectiveness.

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2016 Second International Innovative Applications of Computational Intelligence on Power, Energy and Controls with their Impact on Humanity (CIPECH)

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