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《Journal of Nantong University(Natural Science Edition)》 2018-02
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Singleinverted Pendulum Angle Control Based on Nonsingular Terminal Sliding Mode

GUO Yijun;College of Electro Mechanical Engineering,Huangshan University;  
In this paper, a kind of controller based on a nonsingular terminal sliding mode control technique was proposed for the angle control of single inverted pendulum system with disturbances. Firstly, Newton Euler modeling method was utilized to establish the model of a single inverted pendulum system, and the system model was represented as a state space model. Then, in order to achieve the finite time convergence of the system output variable, the controller based on nonsingular terminal sliding mode control was designed, and the finite time stability of the closed loop system was also proved by the Lyapunov stability method. Finally, the simulation of the proposed control method was carried out and the results showed that the proposed control method is effective.
【Fund】: 安徽省高校自然科学研究基金项目(KJHS2015B11)
【CateGory Index】: TP13
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