입·출력 제약을 가진 회전형 도립진자의 견실 스윙업 제어

Abstract

This paper proposes a robust swing-up strategy that considers input/output constraints for a single rotary inverted pendulum. For the swing-up of a pendulum, we adopt a 2-DOF control structure that consists of a nonlinear feedforward controller and an optimal feedback controller. In order to maximize the performance of the actuator, we formulate the problem of generating feedforward trajectories as a nonlinear optimal control problem subject to constraints. The robustness cannot be guaranteed by only the feedforward control because of the backlash generated in the actuator. Therefore we implemented an optimal feedback controller using an extended Kalman filter as the observer for the controller’s robustness. Through an experiment, we show that the proposed method has robustness against disturbance and swing a pendulum upward effectively satisfying input/output constraints.