Second order sliding mode tracking controller for inertia wheel pendulum.
Rafael IriarteLuis T. AguilarLeonid M. FridmanPublished in: J. Frankl. Inst. (2013)
Keyphrases
- sliding mode
- trajectory tracking
- variable structure
- sliding mode control
- stability analysis
- control law
- control strategy
- sliding mode controller
- robot manipulators
- control scheme
- adaptive control
- sliding surface
- neural controller
- nonlinear systems
- tracking error
- closed loop
- iterative learning control
- control system
- neural network controller
- dynamic model
- external disturbances
- real time
- control theory
- control method
- physical constraints
- inverted pendulum
- iterative learning
- control algorithm
- adaptive neural
- mathematical model
- fuzzy control
- visual servoing
- lyapunov stability
- optimal control
- neural network