{"title":"倒立摆的滑模控制","authors":"P.G. Grossimon, E. Barbieri, S. Drakunov","doi":"10.1109/SSST.1996.493508","DOIUrl":null,"url":null,"abstract":"This paper considers a sliding mode controller for a rotational inverted pendulum. The purpose of this paper is to familiarize the reader with the strengths of sliding mode control on a very popular system. Another purpose is to reveal the authors' unique surface design which permits the pendulum angle (/spl theta//sub des/) to be a function of the base angle (/spl beta/):/spl theta//sub des/(/spl beta/). A brief background on sliding mode and the pendulum's dynamic equations are provided. Simulations for two test cases are presented with figures.","PeriodicalId":135973,"journal":{"name":"Proceedings of 28th Southeastern Symposium on System Theory","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1996-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"69","resultStr":"{\"title\":\"Sliding mode control of an inverted pendulum\",\"authors\":\"P.G. Grossimon, E. Barbieri, S. Drakunov\",\"doi\":\"10.1109/SSST.1996.493508\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper considers a sliding mode controller for a rotational inverted pendulum. The purpose of this paper is to familiarize the reader with the strengths of sliding mode control on a very popular system. Another purpose is to reveal the authors' unique surface design which permits the pendulum angle (/spl theta//sub des/) to be a function of the base angle (/spl beta/):/spl theta//sub des/(/spl beta/). A brief background on sliding mode and the pendulum's dynamic equations are provided. Simulations for two test cases are presented with figures.\",\"PeriodicalId\":135973,\"journal\":{\"name\":\"Proceedings of 28th Southeastern Symposium on System Theory\",\"volume\":\"32 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1996-03-31\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"69\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 28th Southeastern Symposium on System Theory\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SSST.1996.493508\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 28th Southeastern Symposium on System Theory","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SSST.1996.493508","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
This paper considers a sliding mode controller for a rotational inverted pendulum. The purpose of this paper is to familiarize the reader with the strengths of sliding mode control on a very popular system. Another purpose is to reveal the authors' unique surface design which permits the pendulum angle (/spl theta//sub des/) to be a function of the base angle (/spl beta/):/spl theta//sub des/(/spl beta/). A brief background on sliding mode and the pendulum's dynamic equations are provided. Simulations for two test cases are presented with figures.
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