Fuzzy sliding mode control for inverted pendulum swing-up with restricted travel
Fuzzy sliding mode control for inverted pendulum swing-up with restricted travel
复制标题
行程受限的倒立摆摆动模糊滑模控制
DOI：
10.1109/fuzz.2001.1009064
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
B. Turchiano
中科院分区：
文献类型：
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作者：
M. Dotoli;G. Maione;D. Naso;B. Turchiano
倒立摆的摆起是自动控制技术研究的一个常见基准任务。在本文中，我们介绍了一种新的模糊滑模（FSM）技术摆动倒立摆和控制连接车，同时最大限度地减少摆动时间，车的行程和所需的控制动作。所采用的FSM技术是基于一个分段线性滑动流形，该滑动流形向极相平面的远离区域弯曲，从而能够减少控制动作。此外，为了限制推车过冲，在推车控制器中插入两个可变增益。我们测试了我们的技术在一个非线性模型，包括摩擦，并在实验室设备上：我们报告的向上稳定和摆动。使摆向上的平衡点全局稳定。
Swinging up an inverted pendulum is a common benchmark task for the investigation of automatic control techniques. In this paper we introduce a new Fuzzy Sliding Mode (FSM) technique for swinging-up an inverted pendulum and controlling the connected cart, while minimizing the swing-up time, the cart travel and the required control action. The FSM technique adopted is based on a piecewise linear sliding manifold that is bent towards the far off zones of the pole phase plane, thus enabling the reduction of the control action. Further, in order to limit the cart overshoot two variable gains were inserted in the cart controller. We tested our technique both on a nonlinear model, including friction, and on a lab equipment: we report both on the upwards stabilization and swing-up. The pendulum upwards equilibrium point was made globally stable.