H2 sliding mode controller design for mobile inverted pendulum system
Joint Authors
Kazim, Mustafa J.
Ali, Hazim Ibrahim
Source
Iraqi Journal of Computer, Communications and Control Engineering
Issue
Vol. 18, Issue 2 (30 Sep. 2018), pp.17-29, 13 p.
Publisher
Publication Date
2018-09-30
Country of Publication
Iraq
No. of Pages
13
Main Subjects
Abstract EN
The design of an H2 sliding mode controller for a mobile inverted pendulum system is proposed in this paper.
This controller is conducted to stabilize the mobile inverted pendulum in the upright position and drive the system to a desired position.
Lagrangian approach is used to develop the mathematical model of the system.
The H2 controller is combined with the sliding mode control to give a better performance compared to the case of using each of the above controllers alone.
The results show that the proposed controller can stabilize the system and drive the output to a given desired input.
Furthermore, variations in system parameters and disturbance are considered to illustrate the robustness of the proposed controller.
American Psychological Association (APA)
Ali, Hazim Ibrahim& Kazim, Mustafa J.. 2018. H2 sliding mode controller design for mobile inverted pendulum system. Iraqi Journal of Computer, Communications and Control Engineering،Vol. 18, no. 2, pp.17-29.
https://search.emarefa.net/detail/BIM-832994
Modern Language Association (MLA)
Ali, Hazim Ibrahim& Kazim, Mustafa J.. H2 sliding mode controller design for mobile inverted pendulum system. Iraqi Journal of Computer, Communications and Control Engineering Vol. 18, no. 2 (Sep. 2018), pp.17-29.
https://search.emarefa.net/detail/BIM-832994
American Medical Association (AMA)
Ali, Hazim Ibrahim& Kazim, Mustafa J.. H2 sliding mode controller design for mobile inverted pendulum system. Iraqi Journal of Computer, Communications and Control Engineering. 2018. Vol. 18, no. 2, pp.17-29.
https://search.emarefa.net/detail/BIM-832994
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 28-29
Record ID
BIM-832994