Adaptive Control for x Inverted Pendulum Utilizing Gain Scheduling Approach

Ahmed A. M. Hakim, I. Sanhoury
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引用次数: 3

Abstract

The traditional type $x$ inverted pendulum is highly unstable, nonlinear and challenging system. The paper stabilizes the $x$ inverted pendulum through adaptive gain scheduling PID algorithm. The $x$ inverted pendulum is modeled based on Lagrange's approach. The performance of proposed controller is verified via various simulation works, which include disturbance and variation of parameters with time. The proposed controller is benchmarked with a conventional PID controller. It's found that the gain scheduling PID controller reduces the transient response 15.5% with respect to the traditional PID controller.
基于增益调度的x倒立摆自适应控制
传统的$x$倒立摆系统是一个高度不稳定、非线性和具有挑战性的系统。本文采用自适应增益调度PID算法对$x$倒立摆进行稳定控制。$x$倒立摆是基于拉格朗日方法建模的。通过各种仿真工作,包括扰动和参数随时间的变化,验证了所提控制器的性能。该控制器与传统的PID控制器进行了基准测试。结果表明,增益调度PID控制器比传统PID控制器的暂态响应降低了15.5%。
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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