吉林大学学报(工学版) ›› 2011, Vol. 41 ›› Issue (05): 1444-1449.

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Guaranteed cost control of rotary inverted pendulum with limited motor drive torque

GAO Xing-quan1, CHEN Hong2   

  1. 1.College of Information Science and Control Engineering, Jilin Institute of Chemical Technology| Jilin 132022, China|2.College of Communication Engineering, Jilin University, Changchun 130022, China
  • Received:2010-05-15 Online:2011-09-01 Published:2011-09-01

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Abstract:

For the rotary inverted pendulum system with limited torque (the armature voltage provided by drive motor is limited), a guaranteed cost control scheme is proposed based on T-S fuzzy model. The sufficient conditions of seeking state feedback gains are derived. The design problem is then converted to solving an optimization problem with a set of Linear Matrix Inequalities (LMI) constraints. Experiment results on the Quanser rotary inverted pendulum validate the efficiency of the proposed scheme.

Key words: automatic control technology, T-S fuzzy systems, limited torque, rotary pendulum, guaranteed cost control

CLC Number: 

  • TP273
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