AUTHORS: Karl-Christian Schwab, Lennart Schräder, Paolo Mercorelli, Jan Thore Lassen

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ABSTRACT: In the present work two different rules are applied to the system of the inverse pendulum. On the one hand, Sliding Mode Control (SMC) is used to control the position and the angular velocity of the pendulum attached to the cart. On the other hand, Model Predictive Control (MPC) is implemented in order to control the trajectory of the cart in accordance with a desired movement profile. In order to counteract phenomena such as 'chattering' as effectively as possible, various measures are implemented within the Sliding Mode Control.

KEYWORDS: Inverted pendulum, Model Predictive Control, Sliding Mode Control, underactuated system

REFERENCES:

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[3] Mercorelli, P.: Elements of Robotics – Sliding Mode Control. Lecture manuscript summer semester 2018, Leuphana University. Unpublished (2018)

[4] Mercorelli, P.: Elements of Robotics – Control strategies and Model Predictive Control. Lecture manuscript summer semester 2018, Leuphana University. Unpublished (2018)

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[6] Mercorelli, P.: Elements of Robotics – Dynamics of Robots. Lecture manuscript summer semester 2018, Leuphana University. Unpublished (2018)