Your browser does not support JavaScript!
http://iet.metastore.ingenta.com
1887

State estimation and parameter identification via sliding-mode techniques: pendulum-cart system

State estimation and parameter identification via sliding-mode techniques: pendulum-cart system

For access to this article, please select a purchase option:

Buy chapter PDF
£10.00
(plus tax if applicable)
Buy Knowledge Pack
10 chapters for £75.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

In this chapter, the problems of state estimation and parameter identification for the pendulum-cart system are addressed. Different high-order sliding-modes techniques are applied for such a mechanical system. The mathematical model is studied and a couple of high-order sliding-modes observers are proposed to estimate the state, in spite of disturbances; exactly and in a finite or fixed time, respectively. Then, using the exact state estimation, two parameter identification algorithms based on sliding-modes techniques are introduced to identify the unknown parameters of the system, i.e. the friction coefficients. Some experiments and comparisons are presented to illustrate the effectiveness of the presented algorithms. Finally, some concluding remarks are given at the end of the chapter.

Chapter Contents:

  • 2.1 Introduction
  • 2.2 Problem statement
  • 2.3 Preliminaries
  • 2.4 High-order sliding-mode observers
  • 2.4.1 Super-twisting observer
  • 2.4.2 Fixed-time observer
  • 2.4.3 Experimental results
  • 2.5 Parameter identification algorithms
  • 2.5.1 Homogeneous algorithm
  • 2.5.2 Finite-time algorithm
  • 2.5.3 Experimental results
  • 2.6 Conclusions
  • References

Inspec keywords: parameter estimation; observers; variable structure systems; pendulums

Other keywords: mechanical system; pendulum-cart system; parameter identification algorithms; state estimation; high-order sliding-modes observers

Subjects: Multivariable control systems; Simulation, modelling and identification

Preview this chapter:
Zoom in
Zoomout

State estimation and parameter identification via sliding-mode techniques: pendulum-cart system, Page 1 of 2

| /docserver/preview/fulltext/books/ce/pbce111e/PBCE111E_ch2-1.gif /docserver/preview/fulltext/books/ce/pbce111e/PBCE111E_ch2-2.gif

Related content

content/books/10.1049/pbce111e_ch2
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
This is a required field
Please enter a valid email address