Asset Details
Do you wish to reserve the book?
Optimized Hierarchical Sliding Mode Control for the Swing-Up and Stabilization of a Rotary Inverted Pendulum
Hey, we have placed the reservation for you!
By the way, why not check out events that you can attend while you pick your title.
Oops! Something went wrong.
Looks like we were not able to place the reservation. Kindly try again later.
Are you sure you want to remove the book from the shelf?
Optimized Hierarchical Sliding Mode Control for the Swing-Up and Stabilization of a Rotary Inverted Pendulum
Do you wish to request the book?
Optimized Hierarchical Sliding Mode Control for the Swing-Up and Stabilization of a Rotary Inverted Pendulum
Please be aware that the book you have requested cannot be checked out. If you would like to checkout this book, you can reserve another copy
We have requested the book for you!
Your request is successful and it will be processed during the Library working hours. Please check the status of your request in My Requests.
Oops! Something went wrong.
Looks like we were not able to place your request. Kindly try again later.
Journal Article
Optimized Hierarchical Sliding Mode Control for the Swing-Up and Stabilization of a Rotary Inverted Pendulum
2024
Overview
This paper presents a study on controlling a rotary inverted pendulum (RIP) system using a hierarchical sliding mode control (HSMC) approach. The objective is to swing up and stabilize the pendulum at a desired position. The proposed HSMC controller addresses the underactuation challenge through a hierarchical structure of sliding surfaces. The particle swarm optimization (PSO) algorithm is used to optimize the controller parameters. Simulations were performed to evaluate the performance of the HSMC controller at different initial pendulum angles, demonstrating its effectiveness in achieving swing-up and stabilization. The integration of the PSO algorithm enhances the controller’s adaptability and robustness, emphasizing the benefits of combining optimization algorithms with controller parameter tuning for underactuated systems like the RIP.
Publisher
MDPI AG
Subject
