유사변환기법을 이용한 비선형 회전식 역진자의 적응형 상태궤환 제어시스템: 실시간 실험 구현

Adaptive State Feedback Control for Nonlinear Rotary Inverted Pendulum System using Similarity Transformation Method: Implementation of Real-Time Experiment

  • 조현철 (울산과학대학 전기전자학부) ;
  • 이영진 (한국폴리텍 항공대학 항공전기과) ;
  • 이권순 (동아대학교 전기공학과) ;
  • 구경완 (호서대학교 국방과학기술학과)
  • 발행 : 2009.06.01

초록

In recent years, researches on rotary inverted pendulum control systems have been significantly focused due their highly nonlinear dynamics and complicated geometric structures. This paper presents a novel control approach for such systems by means of similarity transformation theory. At first, we represent nonlinear system dynamics to the controllability-formed state space model including a time-varying parameter vector. We establish the state-feedback control configuration based on the transformed model and derive an adaptive control law for adjusting desired characteristic equation. Numerical analysis is achieved to evaluate our control method and demonstrate its superiority by comparing it to the traditional control strategy. Furthermore, real-time control experiment is carried out to test its practical reliability.

키워드

참고문헌

  1. S. Awtar, N. King, T. Allen, I. Bang, M. Hagan, D. Skidmore, K. Craig. "Inverte pendulum systems: rotary and arm-driven - a mechatronic system design case study, " Mechatronics, vol. 12, pp. 357-370, 2002 https://doi.org/10.1016/S0957-4158(01)00075-7
  2. C. J. A. van Kats, "Nonlinear control of a Furuta rotary inverted pendulum." DCT Technical Report, Eindhoven University of Technology, 2004
  3. Z. Juan, C. Jie, D. Lingxun, "Research on control of rotary inverted pendulum via polytope techniques," IEEE Int. Conf. on Conrol & Automation, pp. 2885-2889, 2007
  4. M.P.Melba, N.S.Marimuthu, "Design of intelligent hybrid controller for swing-up and stabilization of rotary inverte pendulum," J. of Engineering & Applied Science, vol. 3, no. 4, pp. 60~70, 2008
  5. H.K.Khalil, Nanlinear systems, New Jersey, Prince Hall, 2002
  6. B. C. Kuo, F. Golaraghi, Automatic control systems, Wiley, 2003