倒立摆自适应积分反步控制策略.PDFVIP

37 2 Vol. 37 No. 2 第 卷第 期 计算机应用研究 录用定稿 Application Research of Computers Accepted Paper 倒立摆的自适应积分反步控制策略* 刘成基，陶玉帆，郭思雯，陈艺航 ( 中国矿业大学(北京) 机电与信息工程学院, 北京 100083) 摘 要：针对直线单级倒立摆在模型参数不确定和外部扰动情况下的稳定控制问题，提出一种自适应积分反步控制 策略，采用拉格朗日方程建立倒立摆系统的运动学模型。为减少稳态误差，将误差积分项引入反步法，设计了倒立 摆的控制器。对含有未知参数的系统非线性状态微分方程，设计适当的 Lyapunov 函数推导出系统未知参数的自适 应更新律，消弱了参数不确定性的影响。将自适应积分反步控制与一般的反步法控制，模糊控制及神经网络控制的 仿真结果进行了对比，并在 LabVIEW 开发环境下进行了实物实验。结果表明，自适应积分反步法可以较为迅速且 精确地完成稳定控制，较好地克服系统参数不确定及外部扰动的影响，具有较强的鲁棒性 关键词：倒立摆；不确定性；自适应控制；积分反步法 中图分类号：TP273 doi: 10.19734/j.issn.1001-3695.2018.07.0534 Adaptive integral backstepping control strategy for inverted pendulum Liu Chengji, Tao Yufan, Guo Siwen, Chen Yihang (School of Mechanical Electronic Information Engineering , China University of Mining Technology, Beijing 100083, China) Abstract: This paper proposed an adaptive integral backstepping control strategy to solve the stability control problem of inverted pendulum system with uncertain model parameters and external disturbance. It established the kinematics model of inverted pendulum system by using Lagrange equation . In order to reduce the steady state error, it introduced error integral term into backstepping method to design the controller of inverted pendulum. For the nonlinear state differential equations of system with unknown parameters, it designed a proper Lyapunov function to derive an adaptive update law for the unknown parameters of the system, and weakened the influence of parameter uncertaint