Stabilization of Double Inverted Pendulum System by Using a Fractional Differential Compensator

被引：0
|
作者：
Mandic, Petar D. [1 ]
Lazarevic, Mihailo P. [1 ]
Sekara, Tomislav B. [2 ]
Cajic, Milan [3 ]
Bucanovic, Ljubisa [1 ]
机构：
[1] Univ Belgrade, Fac Mech Engn, Belgrade, Serbia
[2] Univ Belgrade, Sch Elect Engn, Belgrade, Serbia
[3] Math Inst SASA, Dept Mech, Belgrade, Serbia
来源：
2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2017年
关键词：
inverted pendulum; Pendubot; fractional control; D-decomposition; asymptotic stability; robust control; FEEDBACK; CART;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper stability problem of double inverted pendulum controlled by a fractional differential compensator is investigated. Pendubot is an underactuated mechanical system, i.e. it has only one control input and two degrees of freedom. Detailed mathematical model of Pendubot is derived using the Rodriguez method and then fractional order lead compensator is introduced in order to stabilize it around unstable upright position. D-decomposition method is used to solve the problem of asymptotic stability of closed loop system. Stability regions in control parameters space are calculated using this technique, which allows tuning of the fractional differential compensator to be carried out.
引用
收藏
页码：1911 / 1916
页数：6
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