Inverted pendulum passive adaptive sliding mode control method based on generalized system model

Abstract

The invention discloses an inverted pendulum passive adaptive sliding mode control method based on a generalized system model, and the method comprises the steps: carrying out the stress analysis and circuit analysis of an inverted pendulum-DC motor system, and building the state space description of the inverted pendulum-DC motor system; providing an inverted pendulum generalized system model which is suitable for various complex working conditions and convenient to analyze and integrate; further, performing state augmentation transformation on the inverted pendulum generalized system model; based on the augmented system, designing an integral sliding mode surface and exporting a sliding mode; according to a linear matrix inequality condition for ensuring that the sliding mode is stable and passive, calculating an undetermined parameter matrix, and setting a sliding mode surface and a controller by using calculated parameters; and finally, updating the adaptive sliding mode controller u (t) based on the information of the original state, the augmented state, the time-lag state and the gain, the voltage applied to the direct-current motor being taken according to the u (t), and the direct-current motor controlling the inverted pendulum through gear transmission, so that the stable and passive inverted pendulum system state is realized. The inverted pendulum system can be effectively controlled through the direct-current motor.

Description

technical field [0001] The invention relates to a technology in the field of inverted pendulum control, specifically a passive inverted pendulum based on a generalized system model, which is suitable for the fields of unmanned aerial vehicle, limited robot system, remote operation of underwater robot, aerospace and other fields. Adaptive sliding mode control method. Background technique [0002] As a multivariable, unstable, and nonlinear complex system, the inverted pendulum inevitably encounters factors such as parameter uncertainty, time delay, nonlinear load, and external disturbance during operation. Therefore, its modeling, analysis, and control There is a certain degree of difficulty. Because the inverted pendulum system is complex and contains many disturbances, it is difficult to achieve the ideal control effect by using a DC motor plus a traditional control scheme. The combination of multiple control methods is the development trend of the research on the inverte...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the problem that the inverted pendulum system may be affected by adverse factors such as uncertainty, time lag, nonlinear load, and external interference, the present invention proposes a passive adaptive sliding mode control method for the inverted pendulum based on a generalized system model, fully considering the The inverted pendulum system contains nonlinearity, time-varying time-delay, external interference, and parameter uncertainty. The stable and passive conditions of the original system and the augmented system are established to ensure state convergence and system stability. Adaptability and robustness to linear load changes and system parameter uncertainties, suppressing the influence of external disturbances and time delays of the system

Images