Interference observer-based second-level inverted pendulum self-adaptive sliding-mode control method

Abstract

The invention provides an interference observer-based second-level inverted pendulum self-adaptive sliding-mode control method. Aiming at the problem of stable control of a second-level inverted pendulum system with the presence of external disturbance, the method comprises the steps of firstly, building a differential equation of the second-level inverted pendulum system according to lagrange equation, performing linear processing on a position near to a balance position, and deducing linear state equation and output equation with the external disturbance; and secondly, designing a sliding mode, compensating a system unknown model in the sliding mode by a non-linear interference observer so that the design of a controller does not need to know structure and parameter of the system, and designing a self-adaptive rule in the controller to adjust known estimation by considering known estimation error limit of the observer. A sliding-mode parameter is solved by LMI, a sigmoid function is used for substituting a symbol function in the controller, and a jittering phenomenon is eliminated.

Description

technical field [0001] The invention relates to a motion controller design method, in particular to a two-stage inverted pendulum self-adaptive sliding mode control method based on a disturbance observer, and belongs to the field of control science and control engineering. Background technique [0002] The inverted pendulum is a challenging problem in the theoretical study of control systems. It is a strongly coupled, unstable and underactuated nonlinear mechanical system and is regarded as a benchmark for developing and studying ideas related to robust systems. It has a wide range of industrial applications, such as two-wheeled self-balancing vehicles, rockets, missiles, intelligent robots, and other underactuated nonlinear systems. Sliding mode control is a robust control technique for dealing with complex systems with uncertainties and disturbances. However, sliding mode control needs to rely on the mathematical model of the system to establish a robust control law. Ho...

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Problems solved by technology

However, most disturbance observers have the disadvantage that the estimation effect of the disturbance is completely dependent on the prior knowledge of the disturbance, and it is difficult to obtain the prior knowledge of the disturbance in practice.

At the same time, the influence of the estimation error of the observer on the system is not considered

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