逆系统轨迹控制二级倒立摆自动摆起

将逆系统轨迹控制应用于二级倒立摆的自动摆起控制系统,离线求解非线性方程两点边值问题,得到系统的参考轨迹;采用逆系统前馈控制和基于H∞控制的增益调度反馈控制对参考轨迹进行精确跟踪,实现二级倒立摆的自动摆起;当两摆杆摆起到竖直倒立位置后,采用变增益H∞反馈控制器进行稳定控制.仿真实验结果表明,该方案在较短的摆起时间内实现了二级倒立摆两摆杆的自动摆起,稳定性和鲁棒性明显提高.

Automatic swinging-up of double inverted pendulum by inversion-based trajectory control

Inversion-based trajectory control is applied to swing up a double inverted pendulum.The reference trajectories of swing-up are obtained by solving a nonlinear two-point boundary value problem(BVP) off-line.The inversion-based feed-forward control combined with H∞ gain-scheduling-based feedback control is used to accurately track the reference trajectories,and the swing-up of a double pendulum is achieved.A variable-gain H∞ feedback controller is designed to stabilize the double inverted pendulum when the two rods are swung up.Simulation results show that the control scheme can swing up a double inverted pendulum in a short time;and the stability and robustness of the system are improved distinctly.