Abstract
Rotary double inverted pendulum system is a typical nonlinear, much variable, high order and unstable underactuated system. Currently, common sliding mode variable structure control method made system being vibration, long adjusting time and large overshoot, and so on. Aiming at these problems, fractional order improvement is proposed in this paper. Simulating on rotary double inverted pendulum system, the result's comparison indicates that fractional-order method has obvious superiority, like overshoot decreasing, adjusting time shortening, and vibration weakening. The simulation result provides theory for a hardware-in-loop simulation for rotary double inverted pendulum system.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have