Eventos Anais de eventos
DINAME2019
DINAME2019
Angular Position Control of Furuta Pendulum with an Intelligent Sliding Modes Approach
Submission Author:
Diego Rolim Porto , RN
Co-Authors:
Diego Rolim Porto, Gabriel da Silva Lima, Wallace Moreira Bessa
Presenter: Diego Rolim Porto
doi://10.26678/ABCM.DINAME2019.DIN2019-0165
Abstract
Underactuated mechanical systems have several applications in the industrial activity. With that in mind, the study of controllers suitable for these type of mechanisms is vital. In this article, a controller composed of the combination of the sliding mode and artificial neural networks techniques is proposed. Being tested on a Furuta pendulum, with a highly nonlinear dynamic and uncertainties, the results clearly show a great improvement in the overall performance.
Keywords
Underactuated mechanical systems, Sliding mode control, Artificial neural networks
