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dc.contributor.authorHe, S
dc.contributor.authorZhang, C
dc.contributor.authorYang, N
dc.contributor.authorLi, H
dc.date.accessioned2022-02-21T06:29:21Z
dc.date.available2022-02-21T06:29:21Z
dc.date.issued2018
dc.identifier.issn0142-3312en_US
dc.identifier.doi10.1177/0142331216667809en_US
dc.identifier.urihttp://hdl.handle.net/10072/412554
dc.description.abstractThis paper investigates the problem of active disturbance attenuation control for a rotary inverted pendulum system. A nonlinear disturbance observer is first constructed to estimate the lumped disturbances, and then a feedback domination technique is integrated to handle the nonlinearities in a novel step-by-step way. Hence an exquisite composite controller can be constructed with strong robustness while the nominal control performance can be maintained. By utilizing a recursive stability analysis based on a Lyapunov function, the effectiveness of the proposed controller is assured. Numerical simulation results demonstrate the effectiveness of the proposed algorithm.en_US
dc.description.peerreviewedYesen_US
dc.languageenen_US
dc.publisherSAGE Publicationsen_US
dc.relation.ispartofpagefrom812en_US
dc.relation.ispartofpageto818en_US
dc.relation.ispartofissue3en_US
dc.relation.ispartofjournalTransactions of the Institute of Measurement and Controlen_US
dc.relation.ispartofvolume40en_US
dc.subject.fieldofresearchArtificial intelligenceen_US
dc.subject.fieldofresearchClassical physicsen_US
dc.subject.fieldofresearchElectrical engineeringen_US
dc.subject.fieldofresearchcode4602en_US
dc.subject.fieldofresearchcode5103en_US
dc.subject.fieldofresearchcode4008en_US
dc.titleExquisite disturbance attenuation control for a rotary inverted pendulumen_US
dc.typeJournal articleen_US
dc.type.descriptionC1 - Articlesen_US
dcterms.bibliographicCitationHe, S; Zhang, C; Yang, N; Li, H, Exquisite disturbance attenuation control for a rotary inverted pendulum, Transactions of the Institute of Measurement and Control, 2018, 40 (3), pp. 812-818en_US
dc.date.updated2022-02-21T06:27:38Z
gro.hasfulltextNo Full Text
gro.griffith.authorLi, Hui


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