Robust balancing control of flexible inverted-pendulum systems
Robust balancing control of flexible inverted-pendulum systems
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DOI：
10.1016/j.mechmachtheory.2018.09.001
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发表时间：
2018-12
影响因子：
5.2
通讯作者：
Enrico Franco;A. Astolfi;F. Rodriguez y Baena
中科院分区：
文献类型：
--
作者：
Enrico Franco;A. Astolfi;F. Rodriguez y Baena
本文研究了柔性倒立摆系统的平衡控制问题，研究了系统参数与系统对干扰的鲁棒性之间的关系。为此，针对一类欠驱动机械系统，提出了一种具有自适应扰动补偿的能量成形控制器。此外，还给出了影响闭环系统鲁棒性的关键系统参数辨识方法。将该方法应用于车载柔性摆系统，并进行了仿真研究，验证了其有效性。最后，讨论了带有弹性关节的经典车载摆系统的控制问题，以突出与柔性臂系统的相似之处。
This work studies the balancing control problem for flexible inverted-pendulum systems and investigates the relationship between system parameters and robustness to disturbances. To this end, a new energy-shaping controller with adaptive disturbance-compensation for a class of underactuated mechanical systems is presented. Additionally, a method for the identification of key system parameters that affect the robustness of the closed-loop system is outlined. The proposed approach is applied to the flexible pendulum-on-cart system and a simulation study is conducted to demonstrate its effectiveness. Finally, the control problem for a classical pendulum-on-cart system with elastic joint is discussed to highlight the similarities with its flexible-link counterpart.