Abstract
Cart and Pole is a classical model in control laboratories for testing control algorithm. Balancing control at equilibrium point has been operated many times on this model. However, a control algorithm that makes the system track a suggested trajectory, when stability requirement is guaranteed by mathematics, is still opened. In this paper, the author suggests using a sliding mode control to stabilize cart and pole system at an equilibrium point. Then, this algorithm controls the cart to track the trajectory of sine signal and pulse signal when still stabilizing pendulum on inverted position. On Matlab/Simulink simulation, sliding mode control proves its advantages over LQR control. Then, experiments show the abilities of applying sliding control for the real model.
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Hong, GB. et al. (2020). Trajectory Tracking Sliding Mode Control for Cart and Pole System. In: Solanki, V., Hoang, M., Lu, Z., Pattnaik, P. (eds) Intelligent Computing in Engineering. Advances in Intelligent Systems and Computing, vol 1125. Springer, Singapore. https://doi.org/10.1007/978-981-15-2780-7_89
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DOI: https://doi.org/10.1007/978-981-15-2780-7_89
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Online ISBN: 978-981-15-2780-7
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