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首页> 外文会议>Mediterranean Conference on Control and Automation >Data Driven Control for Swing-up and Stabilization of an Inverted Pendulum System
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Data Driven Control for Swing-up and Stabilization of an Inverted Pendulum System

机译：用于倒摆摆系统的摆动和稳定的数据驱动控制

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摘要

Inverted pendulum is a nonlinear unstable system with complex dynamics due to sensor limitations, a high degree of nonlinearity, parameter variations, and unmodeled disturbances. Many methods have been proposed to control the inverted pendulum, comprising LQR-based control, model-predictive control, passivity-based control, sliding mode control and others. In this paper, two Model Free Control (MFC) algorithms are investigated to bring back the pendulum from an initial position to the upward one (swing-up) and to maintain the pendulum to the upright vertical position (upright stabilization). The first one is an intelligent proportional derivative (iPD) type, while the second is designed with a combined strategy between MFC and Sliding Mode Control. The addition of the Sliding Mode to the Model Free approach improves the result based on the concept of the augmented control signal. The control objective is considered the angle of the pendulum placed on a cart which needs to be stabilized around a perpendicular position relative to the cart. The cart position control is not considered in the paper. Finally, the simulation results are presented to show the effectiveness of the proposed MFC strategies.
机译：倒置摆是一种非线性不稳定系统，具有复杂动态，由于传感器限制，高度的非线性，参数变化和未拼件的干扰。已经提出了许多方法来控制倒立的摆，包括基于LQR的控制，模型预测控制，基于无限的控制，滑模控制等。在本文中，研究了两种模型自由控制（MFC）算法，以将摆锤从初始位置带回向上一个（摆动）并将摆锤保持在直立垂直位置（直立稳定）。第一个是智能比例衍生（IPD）类型，而第二种是在MFC和滑动模式控制之间的组合策略设计。将滑动模式添加到模型自由方法的基于基于增强控制信号的概念来提高结果。控制目的被认为是放置在推车上的摆锤的角度，该钟摆需要围绕垂直位置稳定相对于推车。本文不考虑推车位置控制。最后，提出了仿真结果以表明提出的MFC策略的有效性。

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