Implementation of the network-based moving sliding mode control algorithm to the rotary inverted pendulum system
Yükleniyor...
Tarih
2019-05-23
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Batman Üniversitesi
Erişim Hakkı
info:eu-repo/semantics/openAccess
Attribution-ShareAlike 3.0 United States
Attribution-ShareAlike 3.0 United States
Özet
In this study, the most preferred in control applications rotary inverted
pendulum system (rip) is dealt. The coordinates of the center of gravity of
the rip elements were found and the total kinetic and potential energies of
the system were obtained. Lagrange function has been formed by using
kinetic and potential energy expressions. Expressions giving the equations
of motion of the system have been found by taking into consideration the
Lagrange method. Using the state variables, the pendulum angle of the
system has been controlled by the moving sliding mode control method via
the program written in Matlab. The slope of the sliding surface is calculated
by artificial neural networks. Optimum values of weight and bias
coefficients of artificial neural networks are found by using the genetic
algorithm. From the results, it has been seen that the pendulum angle
reaches to about 25 Nm motor torque and the reference value reaches about
3 seconds and the error is about zero.
Açıklama
Anahtar Kelimeler
Rotary Inverted Pendulum, Moving Sliding Mode Control
Kaynak
WoS Q Değeri
Scopus Q Değeri
Cilt
3
Sayı
1
Künye
Aydın, M , Yakut, O , Tutumlu, H . (2019). Implementation of the network-based moving sliding mode control algorithm to the rotary inverted pendulum system. Journal of Engineering and Technology, 3 (1), 32-41.
