4.7 Article

Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum

期刊

MATHEMATICS
卷 9, 期 21, 页码 -

出版社

MDPI
DOI: 10.3390/math9212745

关键词

balancing control; equivalent input disturbance; linear-quadratic regulator; position tracking; desired state dynamics

资金

  1. National Research Foundation of Korea (NRF) - Ministry of Science, ICT [2019M3F2A1073313, 2021M1A2A2065445]
  2. National Research Foundation of Korea [2021M1A2A2065445] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)

向作者/读者索取更多资源

A robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system is proposed in this paper, using equivalent input disturbance (EID) rejection. The system's mathematical model is developed using a Lagrangian equation. The EID observer is designed to estimate EID and the linear-quadratic regulator method is used for robustness, with closed-loop stability proven using Lyapunov theory and input-to-state stability. The proposed method's performance is validated through experimental results.
This paper proposes a robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model of the system was developed by using a Lagrangian equation. Then, the EID, including external disturbances and parameter uncertainties, was defined; and the EID observer was designed to estimate EID using the state observer dynamics and a low-pass filter. For robustness, the linear-quadratic regulator method is used with EID rejection. The closed-loop stability is proven herein using the Lyapunov theory and input-to-state stability. The performance of the proposed method is validated and verified via experimental results.

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