Research Of UKF In Double Inverted Pendulum

As classic control theory test equipment, inverted pendulum system is a nonlinear, strong coupling, and multi-variable control system. There are already many research examples of inverted pendulum's control, for example, optimum control, and robust control and so on. However, few people involved so far in the filter problem for inverted pendulum system. The thesis aimed at researching the feasibility of applying filtering algorithm to inverted pendulum system. The following is the main works:Firstly, the thesis introduced the development and present situation of the filtering theory, and the inverted pendulum system. Then the thesis analyzed the significance of applying unscented kalman filter to inverted pendulum system. The mathematical model of inverted pendulum was established by mechanism of France. Then the thesis got linear and dynamic equation, and also analyzed the equation near balance point.Secondly, the thesis analyzed the superiority of linear-quadratic algorithm and used it for controller based on double inverted pendulum system. Then the thesis compared unscented kalman filter and extended kalman filter, and selected the former for inverted pendulum system. Later, the thesis described unscented kalman filter in detail.Thirdly, the simulation is finished with linear-quadratic algorithm and unscented kalman filter. In contrast to the results from the simulation with and without unscented kalman filter, and the former have some good performance, such as faster convergence, good eroding resistion and less overshoot. And we concluded that unscented kalman filter is feasible and effective for inverted pendulum.Finally, the physical experiment is finished with linear-quadratic algorithm and unscented kalman filter by some parameters. And the thesis compared the actual data with and without unscented kalman filter and analyzed the result. Fact proved that unscented kalman filter is very effective for inverted pendulum system.