并行双倒立摆系统的鲁棒同步控制

基于非线性系统反馈线性化方法,得到了倒立摆系统的局部反馈线性化模型，并构造非奇异坐标变换使系统满足特定的形式，采用Backstepping方法设计了倒立摆系统的鲁棒稳定控制器。进而根据所定义的系统同步误差设计了并行双倒立摆系统的鲁棒同步控制器。采用该同步控制器，在实际的实验装置上进行了实时控制实验。实验结果表明，所设计的同步控制器实现了倒立摆装置的稳定平衡以及小车的定点控制和正弦指令信号的精确跟踪，并且令两个装置间达到了同步运动。

Robust synchronization control for parallel dual inverted pendulum system

A partially linearized model of single inverted pendulum system is obtained based on the feedback linearization method. And a non-singularity coordinate transformation is constructed to transform the system to the special form. A robust controller for inverted pendulum is proposed by using the backstepping method. Furthermore, a robust synchronization controller is designed based on the defined synchronization errors of the parallel dual inverted pendulum system. A real synchronous motion system composed of two single inverted pendulums is used to test the proposed synchronization controller. The real-time experimental results show that the robust synchronization controller realizes a stable balancing control of the two inverted pendulums and a precise tracking control of the two carts while they move synchronously.