Implementation of the Network-Based Moving Sliding Mode Control Algorithm to the Rotary Inverted Pendulum System

Muhammet AYDIN; Oğuz YAKUT; Hakan TUTUMLU

Makale detayları

Implementation of the Network-Based Moving Sliding Mode Control Algorithm to the Rotary Inverted Pendulum System

Yazarlar:

Muhammet AYDIN | Oğuz YAKUT | Hakan TUTUMLU

Yayıncı:

Batman University

Dergi:

Journal of Engineering and Technology 2019 Vol.3 Issue 1, pp.32-41

Belge Tipi:

Makale

Yayın Tarihi:

5/2019

Belge Dili:

İngilizce

Document ID (Org No.):

2000739311

Sıklık:

Aylık

eISSN:

2619-9483

Özet:

 


In
this study, the most preferred in control applications rotary inverted pendulum
system (rip)  is dealt. The coordinates
of the center of gravity of the rip elements were found and the total kinetic
and potential energies of the system were obtained. Lagrange function has been
formed by using kinetic and potential energy expressions. Expressions giving
the equations of motion of the system have been found by taking into
consideration the Lagrange method. Using the state variables, the pendulum
angle of the system has been controlled by the moving sliding mode control
method via the program written in Matlab. The slope of the sliding surface is
calculated by artificial neural networks. Optimum values of weight and bias
coefficients of artificial neural networks are found by using the genetic
algorithm. From the results, it has been seen that the pendulum angle reaches
to about 25 Nm motor torque and the reference value reaches about 3 seconds and
the error is about zero.

.

Makale detayları

Implementation of the Network-Based Moving Sliding Mode Control Algorithm to the Rotary Inverted Pendulum System

Yazarlar: Muhammet AYDIN | Oğuz YAKUT | Hakan TUTUMLU

Yayıncı: Batman University

Dergi: Journal of Engineering and Technology 2019 Vol.3 Issue 1, pp.32-41

Belge Tipi: Makale

Yayın Tarihi: 5/2019

Belge Dili: İngilizce

Document ID (Org No.): 2000739311

Sıklık: Aylık

eISSN: 2619-9483

Sayı

Yazarlar:

Muhammet AYDIN | Oğuz YAKUT | Hakan TUTUMLU

Yayıncı:

Batman University

Dergi:

Journal of Engineering and Technology 2019 Vol.3 Issue 1, pp.32-41

Belge Tipi:

Makale

Yayın Tarihi:

5/2019

Belge Dili:

İngilizce

Document ID (Org No.):

2000739311

Sıklık:

Aylık

eISSN:

2619-9483