Nonlinear position regulator for linear motion inverted pendulum via active damping injection and disturbance observer

被引：0

作者：

Park J.K. ^{[1
]}

Kim D.S. ^{[2
]}

Kim S.-K. ^{[2
]}

机构：

[1] Graduate School of Creative Convergence Engineering, Hanbat National University

[2] Department of Creative Convergence Engineering, Hanbat National University

来源：

Journal of Institute of Control, Robotics and Systems | 2020年 / 26卷 / 07期

关键词：

Active damping injection; Disturbance observer; Inverted pendulum; Linear motion; Position regulation;

D O I：

10.5302/J.ICROS.2020.19.0226

中图分类号：

学科分类号：

摘要：

This article develops a nonlinear position-regulation law for linear-motion inverted-pendulum systems, taking into account practical constraints, such as the plant nonlinearities and parameter and load variations. The novelty of this work is twofold. First, a method is developed to transform the plant dynamics into a form compatible with the proposed technique. Second, a control law is constructed systematically using the active-damping-injection and disturbance-observer techniques. Simulation results show significant performance improvements in position-reference tracking and regulation under various operating scenarios. © ICROS 2020.

引用

页码：534 / 541

页数：7

共 24 条

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