Control of rotary double inverted pendulum system using mixed sensitivity H∞ controller

International Journal of Advanced Robotic Systems

Sondarangallage DASanjeewa¹ 

关键词: H∞ controller;    model uncertainties;    mixed sensitivity;    rotary double inverted pendulum;    weighting functions selection;   

DOI  :  10.1177/1729881419833273

学科分类：自动化工程

来源: InTech

【 摘 要 】

Balancing control of a rotary double inverted pendulum system is a challenging research topic for researchers in dynamics control field because of its nonlinear, high degree-of-freedom, under actuated and unstable characteristics. The system always works under uncertainties and disturbances. Many control algorithms fail or ineffectively control the rotary double inverted pendulum system. In this article, mixed sensitivity H∞ control is proposed to balance the rotary double inverted pendulum system. The controller is proposed to ensure the robust stability and enhance the time domain performance of the system under uncertainties and disturbances. Structure of the system, dynamics model and controller synthesis are presented. For performance evaluation, the proposed mixed sensitivity H∞ controller is compared with linear quadratic regulator from both simulation and experiment on the rotary double inverted pendulum system. The results show high performance of the proposed controller on the rotary double inverted pendulum system with model uncertainties and external disturbances.

【 授权许可】

CC BY