ZG Controllers Handling VIP System with Nonzero Link Mass,Large Friction Coefficient and Different Initial Pendulum Angle
The vehicular inverted pendulum(VIP)system is one of the most important issues in dynamics and control theory,and has been widely used as a benchmark for testing control algorithms.However,the tracking control and swing-up control of the VIP system have often been investigated separately.In this paper,by combining the Zhang dynamics(ZD)method and the traditional gradient dynamics(GD)method,two Zhang-gradient(ZG)controllers of z2g0 type and z2g1 type are constructed.Note that z2g1 controller can conquer the singularity problem encountered by z2g0 controller and other conventional controllers,thus achieving the tracking control and swing-up control of VIP system simultaneously.The numerical-experimental results substantiate the feasibility and effectiveness of z2g0 and z2g1 controllers for tracking control of the VIP system.Particularly,numerical-experimental results illustrate that the z2g1 controller can achieve tracking control and swing-up control simultaneously with suitable control input.Thus,the z2g1 controller is more suitable for handling the VIP system with nonzero link mass.
ZG controllers tracking control swing-up control large friction coefficient (LFC) values different initial pendulum angle (IPA) values
Yunong Zhang Jinjin Wang Binbin Qiu Deyang Zhang Yang Shi
School of Information Science and Technology Sun Yat-sen University(SYSU),Guangzhou,510006,China;Key Laboratory of Autonomous Systems and Networked Control,Ministry of Education,Guangzhou,510640,China;SYSU-CMU Shunde International Joint Research Institute,Foshan,528300,China;Key Laboratory of Machine Intelligence and Advanced Computing,Ministry of Education,Guangzhou,510006,China
国际会议
重庆
英文
11-17
2017-10-03（万方平台首次上网日期，不代表论文的发表时间）