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首页> 外文期刊>Arabian Journal for Science and Engineering >Performance Analysis and Experimental Validation of 2-DOF Fractional-Order Controller for Underactuated Rotary Inverted Pendulum
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Performance Analysis and Experimental Validation of 2-DOF Fractional-Order Controller for Underactuated Rotary Inverted Pendulum

机译：欠驱动旋转倒立摆2-DOF分数阶控制器的性能分析和实验验证

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摘要

Several numbers of controllers are developed and implemented to enhance the performance of rotary single inverted pendulum (RSIP). This paper addresses a new two-degree-of-freedom (2-DOF) fractional control strategy for RSIP, which is a composition of feedback and feed-forward paths. Primary controller relates the perturbation attenuation, while the secondary controller is accountable for set point tracking. The pole placement technique is used for the design of 2-DOF proportional integral derivative (2-DOF PID) controller. In order to intensify the potentiality of 2-DOF PID controller, it is supplemented with fractional calculus. The tuning of fractional parameters is done by frequency domain analysis using the Nyquist plot. The proposed 2-DOF fractional-order PID controller is materialized on RSIP system which out turns the outstanding experimental results for both stabilization and trajectory tracking tasks. The system is investigated for stability, sensitivity and robustness, which confirms the ability of the proposed controller to reject the external random perturbations.
机译：开发并实现了多种控制器，以增强旋转单倒立摆（RSIP）的性能。本文针对RSIP解决了一种新的两自由度（2-DOF）分数控制策略，该策略由反馈路径和前馈路径组成。主控制器负责扰动衰减，而副控制器负责设定点跟踪。极点放置技术用于设计2-DOF比例积分微分（2-DOF PID）控制器。为了增强2-DOF PID控制器的潜力，它补充了分数演算。使用奈奎斯特图通过频域分析完成小数参数的调整。提出的2-DOF分数阶PID控制器是在RSIP系统上实现的，这证明了稳定和轨迹跟踪任务的出色实验结果。对系统的稳定性，灵敏度和鲁棒性进行了研究，这证实了所提出的控制器拒绝外部随机扰动的能力。

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