单级旋转倒立摆的自抗扰控制

单级旋转倒立摆是一个单输入双输出、强非线性、强耦合的不稳定系统.应用自抗扰控制方法对其进行研究,利用状态观测器对系统的总扰动进行实时估计和补偿,实现了对摆的竖直偏角的良好控制.并且与LQR方法进行了对比,在改变研究对象的参数而不改变控制参数的情况下进行了仿真,结果表明自抗扰控制方法具有较强的鲁棒性.

Active Disturbance Rejection Control Scheme for the Single-rotational Inverted Pendulum

The single-rotational-inverted pendulum is a single-input-two-outputs unstable system with strong nonlinearity and strong coupling.The stable control of it was studied with the active disturbance rejection controller(ADRC).The control scheme was accomplished by estimating overall disturbance with extended state observer(ESO),which is compensated in the controller.Simulation is taken with the same controller after changing some of the parameters of the pendulum,comparing with the LQR method.The results demonstrate the feasibility and robustness of the ADRC method.