期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 65, 期 9, 页码 7229-7238出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2018.2793214
关键词
Adaptive neural network (NN) control; rotary inverted pendulum (RIP); trajectory planning; underactuated systems
资金
- National Natural Science Foundation of China [61773143, 61627901]
- Natural Science Foundation of Heilongjiang Province of China [2017F009]
In this paper, the swing-up and stabilization control problems for a rotary inverted pendulum system are solved via new control schemes, in which the swing-up strategy is designed by using trajectory planning and inertia effect such that the pendulum can be swung to a desired position to trigger the stabilization controller, and the stabilization scheme is implemented by resorting to the nonlinear adaptive neural network control method and linear matrix inequation technique. By using Lyapunov stability theory, it can be proved that the target trajectory can be boundedly tracked by the arm section, and the pendulum section can be balanced in the upright position with a small error. Finally, two experimental results are given to show the effectiveness of the proposed swing-up and stabilization methods, respectively.
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