Modelling, Controller Design and Implementation for Spherical Double Inverted Pendulum System

被引：0

作者：

Zhang, Yongli ^{[1
]}

Zhao, Guoliang ^{[2
]}

Wang, Jiayin ^{[3
]}

机构：

[1] Tianjin Univ Technol & Educ, Sch Automat & Elect Engn, TianJin Key Lab Informat Sensing & Intelligent Co, Tianjin 300222, Peoples R China

[2] Heilongjiang Inst Technol, Fac Sci, Harbin 150027, Peoples R China

[3] Sch Math Sci, Beijing 100875, Peoples R China

来源：

2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年

关键词：

CONTROLLED LAGRANGIANS; FEEDBACK-CONTROL; SWING-UP; STABILIZATION; FEEDFORWARD; 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：

This paper design a nonlinear control law for stabilizing a spherical double inverted pendulum system (SDIPS). SDIPS is a typical 6DOF underactuated nonlinear system. The model of the SDIPS is builded and a new variable feedback gain nonlinear controller is designed to achieve high precision control based on Lyapunov function. The design of the controller is exhaustively discussed in this paper. The major feature of this control scheme is online solving the nonlinear algebraic Riccati equation and obtaining the dynamic feedback gain. Finally, the stabilization of the SDIPS demonstrates the effectiveness of the proposed control scheme. The results of simulation and physical experiments illustrate the proposed nonlinear regulator has good adaptivity and strong robustness.

引用

页码：2967 / 2972

页数：6

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