Title :
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
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;
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
DOI :
10.1109/ICCAE.2010.5451238
