Bilinear control for the triple inverted pendulum based on model bias separation

Author

Yang, Lingling ; Zhang, Yun ; Chen, Zhenfeng

Author_Institution

Fac. of Autom., Guangdong Univ. of Technol., Guangzhou, China

Volume

5

fYear

2010

fDate

26-28 Feb. 2010

Firstpage

436

Lastpage

440

Abstract

For controlling the triple inverted pendulum, a bilinear control system based on model bias separation is proposed. The bilinear controller is the integration of a conventional linear controller and a linear compensator which obtains the model bias information online, and adopts the linear compensator for the nonlinearities and uncertainties. The sufficient condition for system exponential asymptotic stability has been proved. The simulation results show the effectiveness of the proposed bilinear control strategy.

Keywords

asymptotic stability; bilinear systems; compensation; nonlinear control systems; pendulums; bilinear control; linear compensator; model bias separation; system exponential asymptotic stability; triple inverted pendulum; Automatic control; Automation; Control nonlinearities; Control system synthesis; Control systems; Nonlinear control systems; Robust control; Sliding mode control; State feedback; Uncertainty; Bilinear Control; Model Bias Separation; Sliding Mode Control; Triple Inverted Pendulum;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Automation Engineering (ICCAE), 2010 The 2nd International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-5585-0

Electronic_ISBN

978-1-4244-5586-7

Type

conf

DOI

10.1109/ICCAE.2010.5451238

Filename

5451238