Feedforward and Feedback Control of an Inverted Pendulum

摘要：

A feedforward-feedback controller (FFC), which is constructed by a feedforward controller and conventional P1D in the global control scheme, is presented to control Inverted Pendulum in this paper. The angle of the swing-bar is defined as controlled variable for the controlled system and the displacement of swing-bar is taken as the disturbance. The feedback controller is used to control the angle and the feedforward controller is used to compensate for the displacement. Experiment results show that the proposed controller is of better control performance than the PID control scheme with two loops and the neural network control (NNC) scheme designed by Googol Technology (HK) Ltd.

关键词： Inverted Pendulum Feedforward-feedback Controller PID

作者: Yunfeng Wu Ming Zhu Kechang Fu

作者单位: Chengdu University of Information Technology, China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Materials Processing(2011年机电一体化与材料加工国际会议 ICMMP)

会议地点: 广州

会议语种:英文

页码: 2194-2197

在线出版日期: 2011-11-18（万方平台首次上网日期，不代表论文的发表时间）