Logic-Based Switching Nested Saturation Control for Inverted Pendulum
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- 英文论文题名：Logic-Based Switching Nested Saturation Control for Inverted Pendulum
- 论文作者：Zhifeng Sun ; Sheng-liang Chen ; Jun-kai Zhang ; Lingxia Lu ; Miao Yu
- 英文论文作者：Zhifeng Sun ; Sheng-liang Chen ; Jun-kai Zhang ; Lingxia Lu ; Miao Yu ; College of Electrical Engineering ; Zhejiang University
- 年：2017
- 作者机构：College of Electrical Engineering,Zhejiang University;
- 英文论文关键词：Index term ; nested saturation control ; single inverted pendulum ; feed-forward ; logic-based switching
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：O231
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：333k
- 原文格式：D
- 会议级别：全国
摘要
In this paper, we propose an adaptive stabilizer to solve the stability problem of single inverted pendulum system. The stabilizer, which consists of a nested saturation feedback controller and a logic-based online-tuning mechanism, is designed for a class of nonlinear feed-forward systems. The function of the online-tuning mechanism is to adjust the level of saturation in the controller according to the design of switching logic. Moreover, by using coordination transformation, we work out the mathematical model of single inverted pendulum system in the form of a nonlinear feed-forward system, and then move on to the simulation after designing the stabilizer. The simulation results showed that the stabilizer can effectively achieve the stability of single inverted pendulum system.
In this paper, we propose an adaptive stabilizer to solve the stability problem of single inverted pendulum system. The stabilizer, which consists of a nested saturation feedback controller and a logic-based online-tuning mechanism, is designed for a class of nonlinear feed-forward systems. The function of the online-tuning mechanism is to adjust the level of saturation in the controller according to the design of switching logic. Moreover, by using coordination transformation, we work out the mathematical model of single inverted pendulum system in the form of a nonlinear feed-forward system, and then move on to the simulation after designing the stabilizer. The simulation results showed that the stabilizer can effectively achieve the stability of single inverted pendulum system.
In this paper, we propose an adaptive stabilizer to solve the stability problem of single inverted pendulum system. The stabilizer, which consists of a nested saturation feedback controller and a logic-based online-tuning mechanism, is designed for a class of nonlinear feed-forward systems. The function of the online-tuning mechanism is to adjust the level of saturation in the controller according to the design of switching logic. Moreover, by using coordination transformation, we work out the mathematical model of single inverted pendulum system in the form of a nonlinear feed-forward system, and then move on to the simulation after designing the stabilizer. The simulation results showed that the stabilizer can effectively achieve the stability of single inverted pendulum system.
引文
[1]J.Zhang,“Stabilizing control of a single inverted pendulum system based on feedback linearization”[D].Lanzhou Jiaotong University,2009:1-49.
[2]X.Wang,Z.Chen and Z.Yuan,“Lyapunov-energy based stability control for inverted pendulum”[J],Control Theory&Applications,2004,21(5):699-702.
[3]M.Chen,C.Jiang,and Q.Wu,“Inverted pendulum system based on nonlinear control method”[J],Control Theory&Applications,2004,21(5):684-688.
[4]Y.Mi,W.Li and Y.Jing,“Controller Design for Inverted Pendulum System Based on Switching”[J],Control Engineering of China,2008,15(6):634-636.
[5]M.Zhao,“Studies on nonlinear dynamics and control of inverted pendulum”[D],Beijing University of Technology,2003:1-68.
[6]B.Gao and H.Chen,“Nested Saturation Control of a Class of Underactuated Mechanical Systems”[J],Journal of System Simulation,2009,21(5),1436-1442.
[7]B.Gao,“Nonlinear Control of a Class of Underactuated Mechanical Systems”[D],Harbin Institute of Technology,2007:1-139.
[8]A.R.Teel,“Using Saturation to Stabilize a Class of Single-Input Partially linear composite system”[J],IFAC Nonlinear Control Systems,1999:379-384.
[9]X.Ye and H.Unbehauen“Global Adaptive Stabilization for a Class of Feedforward Nonlinear System”[J],IEEE Trans.Automat.Contr.,2004,49(5):786–792.
[10]D.Liu,J.Yi and M.Tan,“Adaptive Sliding Mode Fuzzy Control for a Class of Nonlinear Systems”[J],ACTA AUTOMATICA SINICA,2004,30(1):143-150.
[11]B.Jiang and J.Yi,“Real-Time Control of Nonlinear Underactuated Systems”[J],ACTA AUTOMATICA SINICA,2004,30(1):131-136.
[2]X.Wang,Z.Chen and Z.Yuan,“Lyapunov-energy based stability control for inverted pendulum”[J],Control Theory&Applications,2004,21(5):699-702.
[3]M.Chen,C.Jiang,and Q.Wu,“Inverted pendulum system based on nonlinear control method”[J],Control Theory&Applications,2004,21(5):684-688.
[4]Y.Mi,W.Li and Y.Jing,“Controller Design for Inverted Pendulum System Based on Switching”[J],Control Engineering of China,2008,15(6):634-636.
[5]M.Zhao,“Studies on nonlinear dynamics and control of inverted pendulum”[D],Beijing University of Technology,2003:1-68.
[6]B.Gao and H.Chen,“Nested Saturation Control of a Class of Underactuated Mechanical Systems”[J],Journal of System Simulation,2009,21(5),1436-1442.
[7]B.Gao,“Nonlinear Control of a Class of Underactuated Mechanical Systems”[D],Harbin Institute of Technology,2007:1-139.
[8]A.R.Teel,“Using Saturation to Stabilize a Class of Single-Input Partially linear composite system”[J],IFAC Nonlinear Control Systems,1999:379-384.
[9]X.Ye and H.Unbehauen“Global Adaptive Stabilization for a Class of Feedforward Nonlinear System”[J],IEEE Trans.Automat.Contr.,2004,49(5):786–792.
[10]D.Liu,J.Yi and M.Tan,“Adaptive Sliding Mode Fuzzy Control for a Class of Nonlinear Systems”[J],ACTA AUTOMATICA SINICA,2004,30(1):143-150.
[11]B.Jiang and J.Yi,“Real-Time Control of Nonlinear Underactuated Systems”[J],ACTA AUTOMATICA SINICA,2004,30(1):131-136.