Exquisite disturbance attenuation control for a rotary inverted pendulum. (February 2018)

• Record Type: Journal Article
• Authors: He, Shuaipeng; Zhang, Chuanlin; Yang, Ning; Li, Hui
• Is Part Of: Transactions of the Institute of Measurement and Control. Volume 40:Number 3(2018)
• Page Start: 812
• Page End: 818
• Publication Date: 2018-02
• Subjects: Rotary inverted pendulum -- feedback domination method -- disturbance observer -- recursive design; Automatic control -- Periodicals; Measuring instruments -- Periodicals; Commande automatique -- Périodiques; Mesure -- Instruments -- Périodiques; 681.2
• DOI: 10.1177/0142331216667809
• Languages: English
• ISSNs: 0142-3312

Abstract

This paper investigates the problem of active disturbance attenuation control for a rotary inverted pendulum system. A nonlinear disturbance observer is first constructed to estimate the lumped disturbances, and then a feedback domination technique is integrated to handle the nonlinearities in a novel step-by-step way. Hence an exquisite composite controller can be constructed with strong robustness while the nominal control performance can be maintained. By utilizing a recursive stability analysis based on a Lyapunov function, the effectiveness of the proposed controller is assured. Numerical simulation results demonstrate the effectiveness of the proposed algorithm.