基于能量控制与近似输出调节的二级倒立摆起摆和跟踪控制

摘要

The control problem of double inverted pendulum is challenging since it is a typical underactuated nonlinear system. In this paper, a swing-up and third-order controller design scheme based on energy control and approximate output regulation method is proposed to solve the swing-up and tracking control problem of double inverted pendulum with time-varying reference signal. First, the energy control method is adopted to swing up the first pendulum from the downward position to the neighborhood of the upright position. Second, the sliding mode control method is adopted to stabilize the first pendulum at the upright position. Meanwhile, a method combining “equivalent cart” and energy control is adopted to swing up the second pendulum to the neighborhood of the upright position. Third, a polynomial approximation method based on approximate output regulation theory is adopted to design a third-order controller to realize the position tracking control of the double inverted pendulum. Both simulation and experimental results verify the effectiveness of the proposed control scheme. ? 2023 South China University of Technology.

关键词