Generation method for self-adaptive sliding mode controller of uncertainty plane inverted pendulum system

An adaptive sliding mode, uncertainty technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of poor anti-interference, difficulty in implementation, and increase

Inactive Publication Date: 2016-05-11
HENAN POLYTECHNIC UNIV
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Problems solved by technology

[0010] These methods can realize the stable control of the inverted pendulum system under certain experimental conditions, but these control methods have certain limitations, such a

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  • Generation method for self-adaptive sliding mode controller of uncertainty plane inverted pendulum system
  • Generation method for self-adaptive sliding mode controller of uncertainty plane inverted pendulum system
  • Generation method for self-adaptive sliding mode controller of uncertainty plane inverted pendulum system

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Embodiment Construction

[0069] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

[0070] The planar two-stage inverted pendulum involved in the embodiment of the present invention will be briefly introduced below. The two-stage inverted pendulum involved in the embodiment of the present invention uses the Lagrangian equation to derive the mathematical model of the inverted pendulum system. Under the conditions of ignoring the influence of air resistance and various friction forces, the two-stage inverted pendulum can be abstracted It is composed of trolley platform, rotating shaft quality block, uniform swing rod 1 and uniform swing rod 2. The basic structure is as follows: figure 1 shown. Its basic parameters are defined as follows: l 1 , l 2 are the lengths of pendulum 1 and pendulum 2 respectively, m 1 、m 2 are the masses of p...

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Abstract

The invention provides a generation method for a self-adaptive sliding mode controller of an uncertainty plane inverted pendulum system. The generation method comprises the steps that step 1, the sliding mode control law is generated for a linear time-invariant system with uncertainty items; and step 2, fuzzy system h<^> approximation switching control epsilonsgn(s) is adopted for the uncertainty items. The beneficial effects of the generation method are listed as follows: the self-adaptive fuzzy sliding mode controller is designed for the inverted pendulum system with the uncertainty items, the uncertainty inverted pendulum system is theoretically proved to be stable, and the designed control system is verified to be great in rapidity and robustness through simulation experiment.

Description

technical field [0001] The invention relates to the technical field of control, in particular to a method for generating an adaptive sliding mode controller of an uncertain planar inverted pendulum system. Background technique [0002] The inverted pendulum system is a typical experimental platform for studying various control algorithms. At present, there are many articles on the inverted pendulum system, such as: [0003] [1] HungTH, YehMF, LuHC. PI-like fuzzy controller implementation for the inverted pendulum system [C]. Proceeding of the IEEE International Conference on Intelligent Processing Systems, ICIPS, 1998, 1: 218-222. [0004] [2] Lee Hahn-Ming, Lu Bing-Hui, Lin Fu-Tyan. Fuzzyneural network model for revising imperfect fuzzy rules [J]. Fuzzy Sets and Systems, 1995, 76 (1): 25-45. [0005] [3] Zhang Keqin, Su Hongye, Zhuang Kaiyu, Chu Jian. Robust control of three-stage inverted pendulum system based on sliding mode [J]. Journal of Zhejiang University (Engineeri...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张蛟龙张伟刘巍刘海波
Owner HENAN POLYTECHNIC UNIV
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