tailieunhanh - Robust control of double inverted pendulum system

This paper presents first the dynamic modeling of the system based on Euler – Lagrangian method and then uncertain model is obtained by considering the parametric uncertainty in moment of inertia of pendulums and friction coefficient of hinges and cart. | Journal of Automation and Control Engineering Vol. 5, No. 1, June 2017 Robust Control of Double Inverted Pendulum System Narinder Singh Instrumentation and Control Engg., BR AmbedkarNational Institute of Tech., Jalandhar, India Email: nsbhangal@ Karansher Bhangal Computer Science and Engg., PEC University of Tech., Chandigarh, India Email: karansherbhangal@ performance and robustness. To reduce the effect of dry friction between cart and rail for a single inverted pendulum using H∞ controller, where dry friction is taken as disturbance input. The influence of friction can be reduced in the reference tracking problem with H∞ control [4]. H∞ loop shaping controller design for double inverted pendulum system has been reported [5]. Results shows that the designed controller work satisfactory. The relative stability and disturbance attenuation properties are investigated for a triple inverted pendulum, the controller design is based on H∞ sub optimal control problem [6] and [7]. External disturbance torque has been incorporated as part of control problem. The effect of disturbance is minimized using H∞ sub optimal control design. Several controllers like pole placement, LQR, H ∞ and µ are designed and compared with respect to their performance and robustness properties [8]. In which µ controller is found to have superior relative performance. H∞ and µ synthesis controller are developed and their performance are compared for the two link rigid and flexible manipulators in which µ synthesis controller shown to have superior robust performance [9]-[11]. Since moment of inertia of the pendulums and viscous friction coefficient of hinges and cart are difficult to be estimated precisely. It makes sense to assume unknown deviations in these parameters. It would be important to treat uncertainties in such parameters as structured uncertainties’ rather than congregate them as unstructured uncertainty. In all the previous research work, reference .

• Cơ khí - Chế tạo máy
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