Simultaneous planning and executing (SPAE) control for a fourth-order underactuated inverted pendulum with double-layer asynchronous convergence.

Yang Qu, Zhou Liu, Lilong Cai
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Abstract

The cart-type inverted pendulum is a typical fourth-order underactuated system that has been widely used in diverse industrial applications. This paper presents a new control method to handle the stability problem of a cart-type inverted pendulum. The system is divided into two second-order subsystems: an inner-layer dynamic system of the rod and an outer-layer dynamic system of the cart. Then a simultaneous planning and executing (SPAE) control method based on double-layer polynomial planning is proposed to make the inner-layer and outer-layer systems asynchronously converge in different time intervals. To achieve this asynchronous convergence, the outer-layer system adjusts the cart displacement. Its goal is to provide a smooth reference angle. The inner-layer system should track this angle quickly and precisely. In contrast to existing control approaches, the proposed method does not require parameter optimization or an accurate nonlinear model. Simulated and experimental results have verified that the proposed control method can achieve the double-layer asynchronous convergence in different time intervals, indicating its superiority over other feedback control approaches.

双层异步收敛四阶欠驱动倒立摆的同步规划与执行控制。
小车式倒立摆是一种典型的四阶欠驱动系统,已广泛应用于各种工业应用中。针对小车式倒立摆的稳定性问题,提出了一种新的控制方法。该系统分为两个二级子系统:拉杆的内层动力系统和小车的外层动力系统。然后提出了一种基于双层多项式规划的同时规划与执行(SPAE)控制方法,使内层和外层系统在不同的时间间隔内异步收敛。为了实现这种异步收敛,外层系统调整了小车的位移。它的目标是提供一个平滑的参考角度。内层系统应该快速准确地跟踪这个角度。与现有的控制方法相比,该方法不需要参数优化或精确的非线性模型。仿真和实验结果验证了所提出的控制方法在不同时间间隔内均能实现双层异步收敛,表明其优于其他反馈控制方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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