Swing-up of Furuta Pendulum by Nonlinear Sliding Mode Control

Swing-up of Furuta Pendulum by Nonlinear Sliding Mode Control

This paper presents a nonlinear sliding mode control and its applications to swing-up and stabilization of a Furuta pendulum. The nonlinear sliding mode is computed by the State Dependent Riccati Equation. The approach is based on the Lyapunov function and the stability is assured under the given co...

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Veröffentlicht in:SICE Journal of Control, Measurement, and System Integration Measurement, and System Integration, 2008, Vol.1(1), pp.12-17
Hauptverfasser: IZUTSU, Masaki, PAN, Yaodong, FURUTA, Katsuhisa
Format: Artikel
Sprache:eng
Schlagworte:
nonlinear control
sliding mode
state-dependent Riccati equation
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Beschreibung
Zusammenfassung:This paper presents a nonlinear sliding mode control and its applications to swing-up and stabilization of a Furuta pendulum. The nonlinear sliding mode is computed by the State Dependent Riccati Equation. The approach is based on the Lyapunov function and the stability is assured under the given condition. The validity of the proposed design method is studied through the simulation of swing-up/stabilization control.
ISSN:1882-4889
1884-9970
DOI:10.9746/jcmsi.1.12