Stabilization of an Inverted Pendulum by Using Sliding Mode Control with the Multi-rate State Observer
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概要
- 論文の詳細を見る
In this paper, we describe an application of the sliding mode control that annexes multi-rate state observer to the stabilizing control problem of an inverted pendulum. Especially, nonlinear manipulating input signal generation method to suppress the chattering problem that originates from estimated error of an observer is described. And also the design method of the optimum hyper plane after the states of control system reached into a sliding mode, is described. Finally, we show practicability of the proposed nonlinear manipulating input signal generation through a numerical simulation and we report the result of the control experiment performed for an actual inverted pendulum.
- 東海大学の論文
著者
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Miyazaki Kazuhiko
Course Of Electronics
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Hirata Hiroshi
Department Of Control Engineering
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ANABUKI Masatoshi
Department of Control Engineering
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Anabuki Masatoshi
Department Of Applied Computer Engineering
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Hirata Hiroshi
Department Of Applied Computer Engineering
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