Feedforward and Feedback Control of an Inverted Pendulum

被引：1

作者：

Wu, Yunfeng ^{[1
]}

Zhu, Ming ^{[1
]}

Fu, Kechang ^{[1
]}

机构：

[1] Chengdu Univ Informat Technol, Chengdu, Peoples R China

来源：

MECHATRONICS AND MATERIALS PROCESSING I, PTS 1-3 | 2011年 / 328-330卷

关键词：

Inverted Pendulum; Feedforward-feedback Controller; PID;

D O I：

10.4028/www.scientific.net/AMR.328-330.2194

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

A feedforward-feedback controller (FFC), which is constructed by a feedforward controller and conventional PID in the global control scheme, is presented to control Inverted Pendulum in this paper. The angle of the swing-bar is defined as controlled variable for the controlled system and the displacement of swing-bar is taken as the disturbance. The feedback controller is used to control the angle and the feedforward controller is used to compensate for the displacement. Experiment results show that the proposed controller is of better control performance than the PID control scheme with two loops and the neural network control (NNC) scheme designed by Googol Technology (HK) Ltd.

引用

页码：2194 / 2197

页数：4