ER 밸브 작동기를 이용한 역진자의 위치제어

초록

This paper presents the position control of an inverted pendulum using ER(electro-rheological) valve actuator. As a first step, four ER valves are configured to formulate the field-controlled actuator. The dynamic model of the inverted pendulum is established by taking into account of the actuator dynamic. The model is then linearized and expressed in a state space. A sliding mode controller which is robust to system uncertainties is designed on the basis of to sliding mode condition. The control results of balancing the inverted pendulum are provided to demonstrate the effectiveness of the proposed control system.