Improvement Of Swinging-up And Stabilization Of Linear Inverted Pendulum

The inverted pendulum is a typical nonlinear,multi-variables,high order and close coupling system. It's such a suitable objective that it often being used to test the validity, feasibility and controlling ability of the control methods. According to these characters of the inverted pendulum, this paper verifies and improves the control methods of the swinging-up and stability control systems, so as to increase the control accuracy and performance of the inverted pendulum.The main content includes the following aspects:(1) Applying Newton's mechanical principle to construct models of single and triple inverted pendulum. Linearize the models and obtain the state equations in the neighborhood of the equilibrium point.(2) The stability control of triple inverted pendulum based on fuzzy algorithm. After a deep research of the strategies of the stability control, we chose fuzzy control and variable adaptive fuzzy control(VFC) to construct the stable controllers of triple inverted pendulum respectively. Both of the theories and simulation results show that VFC is a development of traditional fuzzy control, it has better stable capability and stronger robustness.(3) Introduce the Extended Kalman Filter(EKF). Utilize EKF to optimize VFC, and verify its rebuilding and pre-estimating capabilities in triple inverted pendulum. Then, compare and analyze the simulation results between the controllers with and without EKF.(4) The improvement of the swinging-up control of single inverted pendulum based on energy control. Applying energy algorithm to control the swinging-up system, and with consideration of the restricted rail and limitation of the velocity of the cart, we modify energy control rule through a improved Lyapunov Function, which prevents the cart from going outside the limited length and obtains a much better control effect.(5) Implement swinging-up control of single inverted pendulum based on the improved energy algorithm under the environment of VC++in real system. Finally, make summaries of the totally work and point out the next step and direction of the research.