Adaptive dynamic surface control of cart-pole inverted pendulum

被引：0
|
作者：
Huang H.-X. [1 ]
Ding C. [1 ]
Liu J.-T. [1 ]
机构：
[1] College of Information Engineering, Xiangtan University, Xiangtan, 411105, Hunan
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2019年 / 36卷 / 06期
关键词：
Cart-pole inverted pendulum; Dynamic surface control; Fuzzy system; Stability; Tracking differentiator;
D O I：
10.7641/CTA.2018.70323
中图分类号：
学科分类号：
摘要：
A modi fied adaptive dynamic surface control was proposed for a typical underactuated mechanical system.With the help of coordinate transformation, the cart-pole model was transformed to a partially feedback form.Based on semistrict feedback form, a dynamic surface controller(DSC)was designed.An adaptive-based controller is constructed using the capability of fuzzy logic to tackle the uncertainties and then, by introducing tracking differentiator(TD), the'explosion of complexity' problem in traditional backstepping technique was eliminated.TD was incorporated into the traditional DSC design procedure to obtain the precise original intermediate control signals and its derivative signals.Accordingly, the closed-loop control performance can be improved signi ficantly.Based on the Lyapunov theorem, it was proved that appropriate parameter selection guaranteed that the tracking errors could converge to a compact set around zero.Simulation results con firmed the effectiveness of the proposed method. © 2019, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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页码：1002 / 1008
页数：6
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