A Swing-up/Stabilization Control By Using Nonlinear Sliding Mode For Furuta Pendulum.
Masaki IzutsuYaodong PanKatsuhisa FurutaPublished in: CCA (2007)
Keyphrases
- sliding mode
- variable structure
- stability analysis
- control strategy
- control theory
- sliding mode control
- sliding mode controller
- adaptive control
- sliding surface
- adaptive neural
- trajectory tracking
- fuzzy control
- control law
- robot manipulators
- external disturbances
- control scheme
- control method
- inverted pendulum
- control system
- nonlinear systems
- mathematical model
- real time
- nonlinear dynamics
- fuzzy systems
- dynamical systems
- adaptive fuzzy
- feedback control
- state variables
- neural network controller
- lyapunov stability