A finite-time decoupling control method for a trolley inverted pendulum system

A decoupling control, limited time technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as increasing the complexity of the controller

Active Publication Date: 2017-06-13
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] However, the traditional finite-time sliding mode control is generally aimed at the second-order system, so for the fourth-order cart inverted pendulum system, at least two sliding mode controllers need to be designed separately
The current controller design method is designed separately for the trolley and the pendulum, which increases the complexity of the controller

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  • A finite-time decoupling control method for a trolley inverted pendulum system
  • A finite-time decoupling control method for a trolley inverted pendulum system
  • A finite-time decoupling control method for a trolley inverted pendulum system

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Embodiment Construction

[0074] Refer to attached Figure 1-5 , the finite time coupling control method of the trolley inverted pendulum system of the present invention, comprises the following steps:

[0075] Step 1, create the following formula (1) The dynamic model of the fourth-order cart inverted pendulum system is shown, and the relevant control parameters of the initial system state and sampling time are set;

[0076]

[0077] Among them, x=[x 1 ,x 2 ,x 3 ,x 4 ] T is the state vector; a 1 (x,t), a 2 (x,t)≠0 and is an unknown nonlinear function; c 1 (x,t),c 2 (x,t) is the following non-linear function:

[0078]

[0079]

[0080] d 1 (t) and d 2 (t) represents the external disturbance, and, |d 1 (t)|≤D 1 (t),|d 2 (t)|≤D 2 (t); v 1 (t), v 2 (t) is the output value of the saturation function, expressed as:

[0081]

[0082] Among them, u(t)∈R is the actual control signal; v max is the width parameter of the saturation function.

[0083] Step 2, approximate the satur...

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Abstract

A finite-time decoupling control method of a cart inverted pendulum system includes the steps that a fourth-order dynamic model of the cart inverted pendulum system is set up, and the system state and sampling time first-order related control parameters are initialized; a saturation function in the system is approximated to be a simple time-varying system, and a system model with the saturation function is deduced; the cart inverted pendulum system is divided into two second-order subsystems, and the tracking error, the nonsingular terminal sliding mode surface and the first-order derivative of a control system are calculated; aiming at the cart inverted pendulum system, a neural network is selected to approximate an unknown function, a finite-time decoupling controller of the neural network is designed according to the tracking error and the nonsingular terminal sliding mode surface of the system, and a weight matrix of the neural network is updated. The influence of the saturation function can be avoided, the complex degree of the controller is reduced, and the cart inverted pendulum system can be fast stabilized within finite time.

Description

technical field [0001] The invention relates to a finite-time decoupling control method for a fourth-order nonlinear system, in particular to a finite-time decoupling control method for a fourth-order nonlinear system with system model uncertainty and saturated input. Background technique [0002] As a controlled object, the inverted pendulum system of a trolley is a naturally unstable system with fast response, multi-variable, nonlinear and strong coupling, and it is an ideal model for testing various control theories. In the control process, the inverted pendulum system of the trolley can effectively reflect many control problems such as stability, robustness and tracking. Therefore, the research on the cart inverted pendulum has long been one of the hot topics studied by scholars at home and abroad. [0003] Sliding mode control is also called variable structure control, which is a special kind of nonlinear control in essence, and the nonlinearity is manifested as the di...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 陈强汤筱晴
Owner ZHEJIANG UNIV OF TECH
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