A Largely Model Independent Solution for the Position Control of a Typical Inverted Pendulum System
An Active Disturbance Rejection based solution is proposed for the position control of a standard inverted pendulum system,demonstrating a largely model independent design that is distinctly different from existing model-based designs from classical as well as modern control theory.The quality of the control loop is further improved with a unique double disturbance observer design,which rejects independently the disturbance and uncertainty in both the pendulum itself and the cart that carries it.This proposed approach offers a promising and practical solution because its intuitive to understand and easy to tune,in addition to its strong performance and effectiveness shown in both simulation study and real time experimentation.
ADRC LESO Inverted pendulum Real-time control
GAO Qiang CHEN Shasha LI Yi LI Junfang
Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems,School of Electrical Tianjin Key Laboratory of Intelligent Robotics,Nankai University,Tianjin,300071,China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8036-8041
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）