Optimized Hierarchical Sliding Mode Control for the Swing-Up and Stabilization of a Rotary Inverted Pendulum
This paper presents a study on controlling a rotary inverted pendulum (RIP) system using a hierarchical sliding mode control (HSMC) approach. The objective is to swing up and stabilize the pendulum at a desired position. The proposed HSMC controller addresses the underactuation challenge through a h...
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| Autors principals: | , , |
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| Format: | Artigo |
| Idioma: | Inglês |
| Publicat: |
MDPI AG
2024-07-01
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| Col·lecció: | Automation |
| Matèries: | |
| Accés en línia: | https://www.mdpi.com/2673-4052/5/3/17 |
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