Dynamic Output Controller with Sample-Time Gain Adjustment for a Double Inverted Pendulum System Stabilization

Resumen: In this paper, we propose a control method to stabilize the double inverted pendulum on car system (DIPCS). The DIPCS is a prismatic type inverted pendulum system that has a base-link and two interconnected pendulums with different lengths. The proposed control methodology does not require the knowledge of the dynamic model and under assumption that not all state variables are available to be measured. Stabilization around the upper unstable equilibrium is one of the most important control problems for the DIPCS. Then, in order to stabilize the DIPCS at its upright position, it is used an adaptive dynamic feedback controller. Moreover, the adaptive approach is based on full dynamics of the output feedback controller. Finally, our proposal is such that guarantees the boundedness of the obtained deviations of error state function by means of the concept of the UUB (Uniform-ultimately bounded) stability. Since any bounded dynamics can be imposed inside of a multidimensional ellipsoid, we suggest the gain tuning of the adaptive controller providing that all possible trajectories of the DIPCS arrive into a small size ellipsoid.

¿Cómo citar?

JMiguel Ramírez-Barrios, Patricio Ordaz & Carlos Cuvas. Dynamic Output Controller with Sample-Time Gain Adjustment for a Double Inverted Pendulum System Stabilization. Memorias del Congreso Nacional de Control Automático, pp. 413-418, 2019.

Palabras clave

Control Robusto, Sistemas Adaptables, Control de Sistemas No Lineales

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