Abstract
ABSTRACTAn improved active disturbance rejection control (ADRC) strategy is proposed for the control precision improvement of the trolley position and the pendulum angle of the linear inverted pendulum. First, a new nonlinear function with improved continuity and conductivity around the zero point is designed. On the basis of this new function, the control rates of the extended state observer (ESO) and the nonlinear state error feedback (NSEF) of the traditional ADRC controller are improved. Second, with the improved ESO, the various disturbances of the trolley position and the swing angle of the first-order linear inverted pendulum are expanded into two states. These two states are then observed in real time and linearly compensated. Third, with the improved control rate of the NSEF, the nonlinear integration method is adopted to nonlinearly combine the differential and the error differentials and subsequently provide high quality control to the system. Finally, simulation and experimental verification of the linear inverted pendulum control system based on the improved ADRC are conducted. Results show that the proposed control strategy has higher control precision and robustness than the double-closed-loop PID.
Highlights
The inverted pendulum system, as the model base of shipboard radar, rocket launch systems, and satellite attitude control, has been the focus of many research in the past few decades
The corresponding adjustment times of the pendulum angle are 3.81 and 5.96 s. These findings indicate that the improved active disturbance rejection control (ADRC) performs better than the double-closed-loop proportion integration differentiation (PID) based on trolley position and pendulum simulations
In the linear inverted pendulum system, only the AC servo motor drives the system. This mechanism is analyzed for the linear inverted pendulum by comparing the improved ADRC, which is based on the new nonlinear function, with the double-closed-loop PID control drive motor (AC servo motor)
Summary
The inverted pendulum system, as the model base of shipboard radar, rocket launch systems, and satellite attitude control, has been the focus of many research in the past few decades. The inverted pendulum is a typical nonlinear strong coupling system, and it is widely used to verify the performance of control systems. Lan and Fei (2011) proposed the use of a nonlinear dynamic system controller of a double-parallel inverted pendulum based on the state space pole placement method. Al-Janan, Chang, and Chen (2017) proposed a neural multi-objective genetic algorithm, and its effectiveness in controlling sensitive coupled systems was verified on a double-inverted pendulum system. The positions of the inverted pendulum system and the angle of the swinging rod are coupled to one another. The research on inverted pendulums should focus on the difficulties of controlling a pendulum as a consequence of its increased number of stages, but studies need to consider the associated complexities, instability factors, and nonlinear characteristics; a continuous study of new theoretical methods is necessary to extend the knowledge about the above topics (Guo, Wu, & Zhou, 2016; Lin, Qian, & Xue, 2002; Ma, 2015; Xin, Yaz, & Schneider, 2017)
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