A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum

A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum

This paper aims to develop a novel hierarchical recursive nonsingular terminal sliding mode controller (HRNTSMC), which is designed to stabilize the inverted pendulum (IP). In contrast to existing hierarchical sliding mode controllers (HSMC), the HRNTSMC significantly reduces the chattering problem...

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Bibliographic Details
Main Authors: Hiep Dai Le, Tamara Nestorović
Format: Article
Language:English
Published: MDPI AG 2023-12-01
Series:Actuators
Subjects:
adaptive sliding mode control
uncertainties
inverted pendulum
nonsingular terminal sliding mode
under-actuated system
hierarchical sliding mode
Online Access:https://www.mdpi.com/2076-0825/12/12/462

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https://www.mdpi.com/2076-0825/12/12/462

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