Control of pendulum tracking (including swinging up) of IPC system using zeroing-gradient method
被引:64
作者:
Zhang, Yunong
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Sun Yat Sen Univ, Sch Informat Sci & Technol, Guangzhou 510006, Guangdong, Peoples R China
SYSU CMU Shunde Int Joint Res Inst, Foshan 528300, Peoples R China
Minist Educ, Key Lab Autonomous Syst & Networked Control, Guangzhou 510640, Guangdong, Peoples R ChinaSun Yat Sen Univ, Sch Informat Sci & Technol, Guangzhou 510006, Guangdong, Peoples R China
Zhang, Yunong
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Qiu, Binbin
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机构:
Sun Yat Sen Univ, Sch Informat Sci & Technol, Guangzhou 510006, Guangdong, Peoples R China
SYSU CMU Shunde Int Joint Res Inst, Foshan 528300, Peoples R China
Minist Educ, Key Lab Autonomous Syst & Networked Control, Guangzhou 510640, Guangdong, Peoples R ChinaSun Yat Sen Univ, Sch Informat Sci & Technol, Guangzhou 510006, Guangdong, Peoples R China
Qiu, Binbin
[1
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]
Liao, Bolin
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机构:
Sun Yat Sen Univ, Sch Informat Sci & Technol, Guangzhou 510006, Guangdong, Peoples R China
SYSU CMU Shunde Int Joint Res Inst, Foshan 528300, Peoples R China
Minist Educ, Key Lab Autonomous Syst & Networked Control, Guangzhou 510640, Guangdong, Peoples R China
Jishou Univ, Coll Informat Sci & Engn, Jishou 416000, Peoples R ChinaSun Yat Sen Univ, Sch Informat Sci & Technol, Guangzhou 510006, Guangdong, Peoples R China
Liao, Bolin
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Yang, Zhi
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机构:
Sun Yat Sen Univ, Sch Informat Sci & Technol, Guangzhou 510006, Guangdong, Peoples R China
SYSU CMU Shunde Int Joint Res Inst, Foshan 528300, Peoples R China
Minist Educ, Key Lab Autonomous Syst & Networked Control, Guangzhou 510640, Guangdong, Peoples R ChinaSun Yat Sen Univ, Sch Informat Sci & Technol, Guangzhou 510006, Guangdong, Peoples R China
Yang, Zhi
[1
,2
,3
]
机构:
[1] Sun Yat Sen Univ, Sch Informat Sci & Technol, Guangzhou 510006, Guangdong, Peoples R China
[2] SYSU CMU Shunde Int Joint Res Inst, Foshan 528300, Peoples R China
[3] Minist Educ, Key Lab Autonomous Syst & Networked Control, Guangzhou 510640, Guangdong, Peoples R China
[4] Jishou Univ, Coll Informat Sci & Engn, Jishou 416000, Peoples R China
The pendulum control of the inverted-pendulum-on-a-cart (IPC) system is one of the most important issues in nonlinear control theory and has been widely investigated. Nevertheless, the control of pendulum tracking and swinging up has often been addressed separately. In this paper, by combining the zeroing dynamics and the conventional gradient dynamics, two concise zeroing-gradient (ZG) controllers (termed, z2g0 controller and z2g1 controller, respectively) are constructed for the IPC system. Importantly, the proposed z2g1 controller not only realizes the simultaneous control of pendulum swinging up and pendulum angle tracking, but also solves the singularity problem elegantly without using any switching strategy. Besides, the ZG method is compared with the optimal control method and the back-stepping method. The theoretical analyses about the convergence performance of z2g0 and z2g1 controllers are further presented. Moreover, the boundedness of both control input u and its derivative (u)over dot of the z2g1 controller is proved. Three illustrative examples are carried out to demonstrate the tracking performance of z2g0 and z2g1 controllers for the pendulum tracking control. In particular, the efficacy and superiority of z2g1 controller for the control of pendulum tracking (including swinging up) of the IPC system in conquering the singularity problem are substantiated by comparative results. Furthermore, this paper investigates the robustness of the proposed ZG controllers (as well as the ZGdesign method) in the situations of time delay and disturbance.
机构:
Zhejiang Univ, Dept Mech, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Peoples R ChinaZhejiang Univ, Dept Mech, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Peoples R China
Chen, L. C.
Zhu, W. Q.
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机构:
Zhejiang Univ, Dept Mech, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Peoples R ChinaZhejiang Univ, Dept Mech, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Peoples R China
机构:
Zhejiang Univ, Dept Mech, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Peoples R ChinaZhejiang Univ, Dept Mech, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Peoples R China
Chen, L. C.
Zhu, W. Q.
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机构:
Zhejiang Univ, Dept Mech, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Peoples R ChinaZhejiang Univ, Dept Mech, State Key Lab Fluid Power Transmiss & Control, Hangzhou 310027, Peoples R China