Adaptive Robust h of Inverted Pendulum System Based on Sliding Mode Control ∞ Control Method

Abstract

A Adaptive Robust H for Inverted Pendulum System Based on Sliding Mode Control ∞ The control method is to construct a generalized system model with system parameter uncertainty, time-varying delay, unmodeled dynamics, and external disturbance for the inverted pendulum system, add augmented state variables to the generalized system model and perform state augmentation transformation, Based on the parameters and state information after the augmented transformation, the sliding mode surface is designed and the sliding mode is derived. According to the sliding mode, it is stable and satisfies H ∞ The linear matrix inequality condition of the performance index calculates the gain matrix, uses the obtained gain matrix for the sliding mode surface and controller configuration, and finally updates the adaptive rate-based sliding mode controller to stabilize the inverted pendulum system, and realizes disturbance and unmodeled dynamics bounded estimation and self-correction. The invention complements the advantages of various control means, adopts a universal and effective model, and has a wider application range, and can achieve good control effects under complex working conditions including all influencing factors at the same time.

Description

technical field [0001] The invention relates to a technology in the field of inverted pendulum control, in particular to a technology suitable for remote operation of underwater robots, balance control during robot walking, attitude control during satellite flight, verticality control during rocket launch, etc. Adaptive Robust H for Inverted Pendulum Systems Based on Sliding Mode Control ∞ Control Method. Background technique [0002] As a multi-variable, unstable and nonlinear complex system, the inverted pendulum will inevitably encounter such factors as parameter uncertainty, time delay (such as when using network remote control), nonlinear load, and external interference. The control object is becoming more and more complex, and the operating environment changes with time, so the model, analysis and control methods of the steady system will encounter situations that cannot be handled. In addition, most of the current methods only study the inverted pendulum system cont...

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Problems solved by technology

[0003] The present invention aims at the problem that the existing control technology is difficult to analyze and control the inverted pendulum system under complex working conditions, and proposes an adaptive robust H for the inverted pendulum system based on sliding mode control. ∞ control method, based on the sliding mode control strategy by combining adaptive technology and robust H ∞ Control technology, a variety of control means complement each other, and then stabilize the unstable inverted pendulum system. The model adopted in the present invention is universal and effective, and has a wider application range, so that the inverted pendulum system contains some of the above-mentioned influencing factors or all of them at the same time. Under the complex working conditions of various factors, good control effect can be achieved

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