Abstract
This paper proposes a special approach of sliding mode controller so called Eigen structure assignment approach for parallel rotary double inverted pendulum (PRDIP) system. This offers a simple method to control a class of under-actuated systems by reducing the higher order dynamics to simpler one. Here, a particular canonical form so called the regular form was used to produce an appropriate understanding of the reduced order sliding mode dynamics. In addition to this we adopt a robust Eigen structure assignment approach by using 'place' command in mat lab. In this the modeling of the system has been carried out through classical mechanics, considering the inertia tensors of all the principle axis.
| Original language | English |
|---|---|
| Pages (from-to) | 195-204 |
| Number of pages | 10 |
| Journal | International Journal of Control Theory and Applications |
| Volume | 9 |
| Issue number | 39 |
| Publication status | Published - 2016 |
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All Science Journal Classification (ASJC) codes
- Computer Science(all)
Cite this
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Sliding mode controller for parallel rotary double inverted pendulum : An eigen structure assignment approach. / Krishna, Bipin; Chandran, Deepak; George, V. I.
In: International Journal of Control Theory and Applications, Vol. 9, No. 39, 2016, p. 195-204.Research output: Contribution to journal › Article
TY - JOUR
T1 - Sliding mode controller for parallel rotary double inverted pendulum
T2 - An eigen structure assignment approach
AU - Krishna, Bipin
AU - Chandran, Deepak
AU - George, V. I.
PY - 2016
Y1 - 2016
N2 - This paper proposes a special approach of sliding mode controller so called Eigen structure assignment approach for parallel rotary double inverted pendulum (PRDIP) system. This offers a simple method to control a class of under-actuated systems by reducing the higher order dynamics to simpler one. Here, a particular canonical form so called the regular form was used to produce an appropriate understanding of the reduced order sliding mode dynamics. In addition to this we adopt a robust Eigen structure assignment approach by using 'place' command in mat lab. In this the modeling of the system has been carried out through classical mechanics, considering the inertia tensors of all the principle axis.
AB - This paper proposes a special approach of sliding mode controller so called Eigen structure assignment approach for parallel rotary double inverted pendulum (PRDIP) system. This offers a simple method to control a class of under-actuated systems by reducing the higher order dynamics to simpler one. Here, a particular canonical form so called the regular form was used to produce an appropriate understanding of the reduced order sliding mode dynamics. In addition to this we adopt a robust Eigen structure assignment approach by using 'place' command in mat lab. In this the modeling of the system has been carried out through classical mechanics, considering the inertia tensors of all the principle axis.
UR - http://www.scopus.com/inward/record.url?scp=85010634447&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85010634447&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:85010634447
VL - 9
SP - 195
EP - 204
JO - International Journal of Control Theory and Applications
JF - International Journal of Control Theory and Applications
SN - 0974-5572
IS - 39
ER -