倒立摆系统自适应高阶微分反馈控制(英文)

Adaptive high order differential feedback control for inverted pendulum system

中文关键词  倒立摆系统  高阶微分器  自适应高阶微分反馈控制器  不依赖模型控制器  鲁棒性

英文关键词  inverted pendulum system  high order differentiator  adaptive high order differential feedback controller  model free controller  robustness

中文摘要

      利用提取的系统高阶微分信息,提出了自适应高阶微分反馈控制器.某种程度上该控制器不依赖于单输入单输出(SISO)非线性仿射系统的模型.并且分析了闭环系统的稳定性和鲁棒性.通过将摆角方程的位移加速度看作是控制输入,将倒立摆系统转化成相互影响的两个SISO仿射系统,从而用两个串级高阶微分反馈控制器成功地实现了倒立摆系统的镇定与调节.数字仿真表明,控制器对摆的基准模型实现了较为满意的控制,而且该控制方法对非线性摩擦项,对摆长、摆质量、小车质量等参数变化以及外扰动具有强鲁棒性.

英文摘要

      Making full use of high order differential information extracted,an adaptive high order differential feedback controller is proposed,which does not depend on the model of SISO nonlinear affine system to a certain extent.Stability and robustness of the closed-loop system were analyzed.Through considering the position acceleration in dynamic equation of angle of pendulum as control input,the inverted pendulum system was then converted into interactional double nonlinear SISO affine systems.The pendulum system was thus successfully stabilized and regulated by using double adaptive high order differential feedback controller in series.Numeric simulations showed that the controller reaches satisfied effect for the benchmark model,and importantly had strong robustness for nonlinear friction term,parameter variations including length and mass of pendulum and mass of carriage,and external disturbance as well.