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State estimation of rotary inverted pendulum using HOSM observers: Experimental results

Abstract : This paper presents the observer design for the state estimation of the rotary inverted pendulum (RIP) system. A Takagi-Sugeno (T-S) fuzzy descriptor ap- proach is used for modeling the nonlinear dynamic system. Two higher-order sliding mode (HOSM) observers, based on the super-twisting algorithm, are proposed and applied to the RIP with real-time implementation. The experimental results illus- trate the finite-time convergence and accuracy of the state estimates of the designed observers.
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https://hal-uphf.archives-ouvertes.fr/hal-03677981
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Submitted on : Wednesday, May 25, 2022 - 9:59:40 AM
Last modification on : Thursday, May 26, 2022 - 3:48:04 AM

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  • HAL Id : hal-03677981, version 1

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F. A. Haouari, Quoc Viet Dang, J. y Jun, Mohamed Djemai, Brahim Cherki. State estimation of rotary inverted pendulum using HOSM observers: Experimental results. Nonlinear Dynamics and Systems Theory, Informath Publishing Group, 2019, 19 (3), pp.405-415. ⟨hal-03677981⟩

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