Inverted pendulum foreseeing and tracking control method and system based on double nonlinear constraints

By introducing dual nonlinear constraints and predictive control mechanisms into the inverted pendulum system, an expanded error system is constructed, and state feedback and static output feedback controllers are designed. This solves the problem of fine description of nonlinear characteristics and trajectory tracking in the inverted pendulum system, and achieves high-precision, phase-lag-free tracking control.

CN122450168AActive Publication Date: 2026-07-24SHANDONG JIANZHU UNIV
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Patent Information

Application Number
CN202610947449.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-06-29
Publication Date
2026-07-24
Estimated Expiration
2046-06-29

AI Technical Summary

Technical Problem

Existing technologies struggle to achieve precise description of nonlinear factors and high-precision trajectory tracking in inverted pendulum systems. Traditional control methods are ineffective in handling multi-source nonlinear characteristics, and feedback control schemes suffer from phase lag.

Method used

A predictive tracking control method for an inverted pendulum based on dual nonlinear constraints is adopted. By constructing an amplified error system and combining the predictive target signal information, a state feedback and static output feedback predictive controller is designed to achieve high-precision tracking of the inverted pendulum system.

Benefits of technology

It significantly reduces the conservatism of controller design, improves system stability and tracking accuracy over a wide range, overcomes the phase lag problem of large inertial systems, and reduces hardware costs and computing resource requirements.

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Abstract

The invention discloses an inverted pendulum foreseeing and tracking control method and system based on double nonlinear constraints, and belongs to the field of robot control. The method comprises the following steps: establishing an inverted pendulum nonlinear model, wherein a nonlinear term meets unilateral Lipschitz and secondary internal bounded conditions; a predictive expansion error system is constructed, and a tracking problem is converted into a stability problem; selecting a state feedback or static output feedback controller architecture according to the measurable information type of the system; converting asymptotic stability and H-infinity disturbance attenuation performance requirements into a linear matrix inequality by using a Lyapunov stability theory and a double nonlinear constraint lemma, and solving to obtain an optimal feedback gain and a predictive compensation gain; and finally, configuring the gain to a control unit, and generating a control instruction in combination with real-time feedback and foreseeing information. According to the method, the non-linear control conservative property is reduced, the phase lag of time-varying signal tracking is eliminated, the method adapts to the composite output working condition, and the tracking precision and robustness of the inverted pendulum are remarkably improved.
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