基于双积分系统轮式倒立摆的鲁棒复合控制
Robust Compound Control for Wheeled Inverted Pendulum Based on Double Integrater System
DOI: 10.12677/PM.2023.138238, PDF,   
作者: 刘志民：上海出版印刷高等专科学校基础教学部，上海
关键词: 双积分；轮式倒立摆；鲁棒控制；Double Integral System； Wheel Inverted Pendulum； Robust Compound Control
摘要: 本文研究了轮式倒立摆车轮位置和摆角的复合鲁棒控制方法。所提出的控制算法是时变滑模控制，精度高，抗干扰效果较好，可以消除抖振现象，获得更好的稳定性和跟踪性能。利用拉格朗日和牛顿力学方法推导了倒立摆的非线性动力学模型。利用李雅普诺夫定理证明了该控制方案的收敛性和稳定性。仿真结果表明，所提出的控制方案在消除抖振现象、抑制噪声方面具有良好的性能，可以提高系统的稳定性和缩短响应时间。
Abstract: This paper studies the compound robust control method of wheel position and swing angle of wheel inverted pendulum. The proposed control algorithm is time-varying sliding mode control with high accuracy and good anti-interference effect, which can eliminate chattering and obtain better stability and tracking performance. The nonlinear dynamic model of inverted pendulum is derived by using Lagrange and Newton mechanics methods. The convergence and stability of the control scheme are proved by using Lyapunov theorem. The simulation results show that the proposed control scheme has good performance in eliminating chattering and suppressing noise, and can improve the stability of the system and shorten the response time.
文章引用：刘志民. 基于双积分系统轮式倒立摆的鲁棒复合控制[J]. 理论数学, 2023, 13(8): 2313-2318. https://doi.org/10.12677/PM.2023.138238

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