基于卡尔曼滤波器的一阶倒立摆滑模控制方法

In this paper, in order to solve the problem that the inverted pendulum with intensive noise in its distance signal and angle signal can not be controlled accurately, a sliding mode control strategy of inverted pendulum based on Kalman filter is proposed using the method combining the sliding mode control and Kalman filter. The simulation result illustrates that the inverted pendulum had been controlled quickly and smoothly and the signals of distance and angle were accurate, so this method has good performance in the control of systems with noise disturbance.