Robust Passivity Cascade Technique-Based Control Using RBFN Approximators for the Stabilization of a Cart Inverted Pendulum

Robust Passivity Cascade Technique-Based Control Using RBFN Approximators for the Stabilization of a Cart Inverted Pendulum

This paper proposes a novel passivity cascade technique (PCT)-based control for nonlinear inverted pendulum systems. Its main objective is to stabilize the pendulum’s upward states despite uncertainties and exogenous disturbances. The proposed framework combines the estimation properties of radial b...

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Bibliographic Details
Main Authors: Reza Rahmani, Saleh Mobayen, Afef Fekih, Jong-Suk Ro
Format: Article
Language:English
Published: MDPI AG 2021-05-01
Series:Mathematics
Subjects:
passivity cascade control
RBFN approximator
nonlinear systems
inverted pendulum
Online Access:https://www.mdpi.com/2227-7390/9/11/1229

Internet

https://www.mdpi.com/2227-7390/9/11/1229

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