Experimental Output Regulation of Linear Motor Driven Inverted Pendulum With Friction Compensation

Over the past few decades, the nonlinear output regulation (NOR) theory has attracted extensive attentions in control society. However, few experimental results have been reported about the NOR theory. This article first presents experimental results on discrete-time NOR problem for a linear motor d...

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Veröffentlicht in:IEEE transactions on systems, man, and cybernetics. Systems Jg. 51; H. 6; S. 3751 - 3758
Hauptverfasser: Ping, Zhaowu, Liu, Chenxi, Huang, Yunzhi, Yu, Ming, Lu, Jun-Guo
Format: Journal Article
Sprache:Englisch
Veröffentlicht: New York IEEE 01.06.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Algorithms
Artificial neural networks
Compensation
Control algorithms
Control theory
Controllers
Discrete-time nonlinear system
Eigenvalues and eigenfunctions
Electric motors
Friction
linear motor driven inverted pendulum (LMDIP)
Mathematical model
Mechanical systems
neural network (NN)
Neural networks
Nonlinear systems
output regulation
Pendulums
Steady-state
ISSN:2168-2216, 2168-2232
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Zusammenfassung:Over the past few decades, the nonlinear output regulation (NOR) theory has attracted extensive attentions in control society. However, few experimental results have been reported about the NOR theory. This article first presents experimental results on discrete-time NOR problem for a linear motor driven inverted pendulum (LMDIP) system. To solve this problem, it is essential to find the solution of the complicated discrete regulator equations (DREs). Moreover, the friction force commonly exists in mechanical systems and cannot be neglected for control systems requiring high precision tracking performance. We present a novel discrete-time controller by combining neural network (NN) approach and friction-feedforward compensation mechanism. Finally, we verify the proposed control algorithm by experiment and make some comparisons with the linear controller.
Bibliographie:ObjectType-Article-1
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ISSN:2168-2216
2168-2232
DOI:10.1109/TSMC.2019.2931740