Characteristic Model Based Golden Section Adaptive Control of Cart-Inverted Pendulum System

被引：0

作者：

Liang Qing ^{[1
]}

Wang Chuanbang ^{[1
]}

Pan Jinwen ^{[1
]}

Zhong Hua ^{[1
]}

Wang Yong ^{[1
]}

机构：

[1] Univ Sci & Technol China, Dept Automat, Hefei 230027, Peoples R China

来源：

2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年

关键词：

inverted pendulum; characteristic model; parameter estimation; golden section adaptive control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper applied the Characteristic Modelling Theory to a cart-inverted pendulum system. Firstly, the characteristic model of the cart-inverted pendulum is deduced, and the ranges of characteristic parameters are estimated. Secondly, a type of Golden Section Adaptive(GSA) controller with logical integral, logical derivative control law and a gradient descent algorithm to identify the parameters is proposed for the characteristic model. Finally, the designed controller is implemented on the cartinverted pendulum system, and the experiments validate the effectiveness of the designed control law. Compared with the PID, LQR, the proposed method is simpler and easier to implement and has a better performance.

引用

页码：1988 / 1993

页数：6

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