文献类型：期刊文献

英文题名：A novel LMI based swing-up robust controller for a serial double inverted pendulum

作者：Zeng, Yong[1]; Xia, Chunming[1]; Cao, Heng[1]

机构：[1] Department of Mechanical Engineering, East China University of Science and Technology, Shanghai 200237, China

年份：2009

起止页码：2073

外文期刊名：2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

收录：EI(收录号：20101712895129)

语种：英文

外文关键词：Sliding mode control - Inverted pendulum - Controllers - Robust control - Robustness (control systems)

摘要：This paper presents a robust controller based on the application of the linear matrix inequalities (LMI) to solve the swinging up and stabilization problem of a serial double inverted pendulum (SDIP), which is of complicate nonlinearities and limitations of actuator and sensors. The designed H-infinity robust controller was optimized to realize the required objectives and eliminate the negative effect of external disturbance. From the results of experiments in laboratory and numerical simulations, the proposed controller tests and verifies a satisfying performance in time responses, and its comparison with sliding mode controller confirms the advantages and efficiency of control performance in this pendulum problem. ? 2009 IEEE.