Nonlinear and Adaptive Control Design for Inverted Pendulum System On a Slope

• Main Authors: Chia-Fong Chang, 張嘉峰
• Other Authors: Jung-Shan Lin
• Format: Others
• Language: en_US
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/86033404815388898420

碩士 === 國立暨南國際大學 === 電機工程學系 === 104 === Inverted pendulum is a typical control problem and one of the most popular benchmark for nonlinear systems. This thesis introduces the type of inverted pendulum system which is set on a slope and it has been investigated by lots of engineers and researchers. Here, we employ nonlinear Lyapunov-based controllers with backstepping design scheme to control the inverted pendulum system on a slope. The control objectives is not only to balance the pendulum at the upright position but also to drive the cart to return its original position. The inverted pendulum on a slope is nonlinear, complex and difficult for control design, so the system characteristics must be analyzed and understood in the beginning. In the design procedure, how to choose an appropriate regulated variable for backstepping design scheme is very important. The linear control design is developed for the linearized inverted pendulum system on a slope. Then, the concept of the linear control design is expanded to nonlinear backstepping design scheme to accomplish our control objectives for inverted pendulum system on a slope. In addition, the unknown friction force is considered into inverted pendulum system on a slope, and the adaptive backstepping design scheme is employed to cope with unknown friction coefficient disturbance for actual systems. Finally, some simulation results are given to verify that both nonlinear backstepping and adaptive backstepping design schemes can accomplish our control objectives successfully and effectively for the inverted pendulum system on a slope.