Details

Autor(en) / Beteiligte

• Nguyen, Duy Cuong
• Vu, Ngoc Pi
• Long, Banh Tien
• Puta, Horst
• Sattler, Kai-Uwe

Titel

A Hybrid Energy Sliding Mode Controller for the Rotary Inverted Pendulum

Ist Teil von

• Advances in Engineering Research and Application, 2022, Vol.602, p.34-41

Ort / Verlag

Switzerland: Springer International Publishing AG

Erscheinungsjahr

2022

Link zum Volltext

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• The rotary inverted pendulum (RIP) is a classical and underactuated system with two degrees of freedom. In this paper, we concentrate on addressing the swing up and stabilization of the rotary inverted pendulum, which are its two fundamental issues. In the beginning, we proceed to model the system. The two problems described previously are then solved by an energy sliding mode controller (ESMC). The effectiveness of the controller has also been verified through simulation results under the influence of external disturbance.