File Download
There are no files associated with this item.
SFX Link
- Find it @ UNIST can give you direct access to the published full text of this article. (UNISTARs only)
- Oh, Hyondong
- Autonomous Systems Lab.
Views & Downloads
Detailed Information
Cited time in 
Cited time in 
Cited time in
Metadata Downloads
Second-order sliding mode stabilization control for the rotary inverted pendulum system
- Author(s)
- Nguyen, Ngo Phong, Moon Jun, Oh, Hyondong
- Issued Date
- 2019-10-16
- Citation
- 2019 International Conference on Control Automation and Systems (ICCAS)
- Abstract
- In this paper, we consider the second-order sliding mode stabilization control problem for the rotary inverted pendulum. The rotary inverted pendulum is a class of two-degree-of-freedom underactuated systems, since its motion consists of rotary arm and pendulum angles, but only the rotary arm is subjected to the control input. We first introduce the new sliding surface, which is designed to resolve the underactuation problem by combining the pendulum dynamics with the rotary arm dynamics. Then, for the pendulum stabilization, we develop second-order sliding mode control based on the super-twis
- Publisher
- ICCAS
Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.