Conference proceeding
MIMO sliding mode control of a robotic "pick and place" system modeled as an inverted pendulum on a moving cart
Proceedings of Thirtieth Southeastern Symposium on System Theory, v 1998-, pp 379-383
1998
Abstract
Nonlinear output tracking of arbitrary inputs in a multi-input, multi-output (MIMO) system with matched nonlinearities and disturbances is considered in sliding modes. A sliding mode controller, designed using the method of control hierarchy, is proposed for a robotic "pick and place" system modeled as an inverted pendulum mounted on a moving cart. Two arbitrary profiles for positioning pendulum angle and cart position serve as inputs to the controller. A brief background on sliding mode control and the system's dynamic equations is also provided along with a presentation of simulation results. In addition, a description of a novel distributed computer system-the simultaneous optical multiprocessor exchange bus-that could be applied to control of the system is included.
Metrics
Details
- Title
- MIMO sliding mode control of a robotic "pick and place" system modeled as an inverted pendulum on a moving cart
- Creators
- E. Doskocz - University of Alabama in HuntsvilleY. ShtesselC. KatsinisSSST
- Publication Details
- Proceedings of Thirtieth Southeastern Symposium on System Theory, v 1998-, pp 379-383
- Publisher
- IEEE
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Computer Science
- Web of Science ID
- WOS:000073214100073
- Scopus ID
- 2-s2.0-84997127699
- Other Identifier
- 991020546597304721
InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Computer Science, Theory & Methods
- Engineering, Electrical & Electronic