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ITERATIVE FEEDBACK TUNING CONTROL FOR ROTATING INVERTED PENDULUM AND ROBUST OPTIMISATION METHOD THEREFOR
ITERATIVE FEEDBACK TUNING CONTROL FOR ROTATING INVERTED PENDULUM AND ROBUST OPTIMISATION METHOD THEREFOR
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机译：旋转倒立摆的迭代反馈调谐控制和鲁棒优化方法
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摘要
Disclosed in the present invention are iterative feedback tuning control for a rotating inverted pendulum and a robust optimisation method therefor, relating to the field of robot optimised control, the method comprising: establishing Lagrangian and state-space mathematical models of a rotating inverted pendulum on the basis of an inverted pendulum machine and a hardware structure; designing a rotating inverted pendulum iterative feedback tuning dual closed loop controller; and performing algorithmic convergence analysis for the iterative feedback tuning PD controller; the introduction of an auxiliary factor further optimises the robust iterative feedback tuning angle PD controller, enabling the rotating inverted pendulum system to implement rapid, high-precision tracking of the desired motion trajectory; the control algorithm of the method of the present application is simple and efficient, does not require the acquisition of the parameters of the model itself, and drives the calculation of the unbiased gradient of the indicator function to the controller parameters by means of I/O data; and the algorithm introduces an auxiliary factor, enabling the control system to respond better to changes in the input signal and thereby have better robustness.
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