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Title: Angular Position Control of Furuta Pendulum with an Intelligent Sliding Modes Approach
Authors: Porto, Diego Rolim
Keywords: Underactuated mechanical systems;sliding mode control;artificial neural network
Issue Date: 29-Nov-2019
Publisher: Universidade Federal do Rio Grande do Norte
Citation: PORTO, Diego Rolim; LIMA, Gabriel da Silva; BESSA, Wallace Moreira. Angular Position Control of Furuta Pendulum with an Intelligent Sliding Modes Approach. International Symposium on Dynamic Problems of Mechanics. Armação de Búzios, Rj, mar. 2019.
Portuguese 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.
Other Identifiers: 20180009298
Appears in Collections:Engenharia Mecânica

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