论文标题
基于整体表面的二阶滑动模式控制器设计，用于倒置的倒置，并带有PD SMC补偿
Integral surface based Second Order Sliding Mode Controller design for Inverted Pendulum with PD SMC Compensation
论文作者
论文摘要
非线性单阶段倒置摆的稳定是一个复杂的控制问题，因为非线性固有地存在，外部因素会影响平衡位置。在本文中，PD滑动模式控制器与二阶PI（比例+积分）滑动模式控制器连接，该控制器旨在改善具有未知参数的非线性状态微分方程的性能。本文通过广泛的数学建模，将灯光照亮了滑动表面设计，并突出了多路复用滑动模式控制输入的重要特征，从而导致稳健性和更高的输出收敛性。模拟和实验应用是在系统上进行的，以评估控制器的性能，实施的复杂性以及非线性IP系统对其稳定性的影响。
Stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. In this paper, a PD sliding mode controller is connected with Second order PI (Proportional+Integral) sliding mode controller, which is designed to improve the performance for nonlinear state differential equations with unknown parameters. This paper throws light on the sliding surface design and highlights the important features of multiplexing sliding mode control inputs resulting in robustness and higher convergence of output, through extensive mathematical modeling. Simulations and experimental application is done on the system to evaluate the controller for performance, complexity of implementation and also on the impact of the nonlinear IP system on its stability.
