A Novel LMI Based Swing-up Robust Controller for a Serial Double Inverted Pendulum

摘要：

This paper presents a robust controller based on the application of the linear matrix inequalities (LMI) to solve the swinging up and stabilization problem of a serial double inverted pendulum (SDIP), which is of complicate nonlinearities and limitations of actuator and sensors. The designed H-infinity robust controller was optimized to realize the required objectives and eliminate the negative effect of external disturbance. From the results of experiments in laboratory and numerical simulations, the proposed controller tests and verifies a satisfying performance in time responses, and its comparison with sliding mode controller confirms the advantages and efficiency of control performance in this pendulum problem.

作者: Yong Zeng Chunming Xia Heng Cao

作者单位: Department of Mechanical Engineering,East China University of Science and Technology,Shanghai 200237,P.R.China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2073-2078

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）