基于干扰观测器的倒立摆自适应滑模控制及仿真研究

旋转二级倒立摆是一种非线性、强耦合的复杂不稳定的欠驱动系统,在已建立的倒立摆数学模型的基础上,提出了一种基于干扰观测器的离散自适应滑模控制算法,针对系统的内部参数变化和外部扰动,利用干扰观测器对系统的不确定因素进行了动态补偿,同时结合自适应算法降低系统的抖振,与未采用干扰观测器的传统自适应滑模控制律的仿真结果进行对比,可以看出,采用改进的控制算法大大降低了系统的抖振和超调,改善了系统的动态性能,得到更好的控制效果.

Simulation of Adaptive Sliding Mode Control for Inverted Pendulum Based on Disturbance Observer

Double link rotary inverted pendulum is a class of complicated,unstable and drive-lacking system with nonlinear and strong coupled character.On the basis of the known inverted pendulum mathematical model,a discrete time adaptive sliding mode control algorithm based on disturbance observer was proposed.Disturbance observer was used to compensate internal parameters variation and external disturbances dynamically.Simultaneously,adaptive algorithm was employed to reduce the chatter of the system.Compared with the control law of traditional adaptive sliding mode strategy without disturbance observer,simulation results indicate that the proposed algorithm has greatly reduced the chattering and overshoot.In addition,it improves the dynamic performance of the system.