Abstract
This paper addresses the robust output feedback tracking control problem for an inertia wheel pendulum in the presence of uniformly bounded matched disturbances. The periodic motion of the pendulum will be at the upright position which corresponds to the unstable equilibrium point of the unforced system. A two-relay-controller-based reference model was developed for generating the desired trajectories to be tracked by the unactuated link of the inertia wheel pendulum and then design an output feedback robust tracking controller. The desired amplitude and frequency were tuned by choosing the two-relay control gains properly. A second-order sliding-mode tracking controller interconnected with a second-order sliding-mode observer was capable to track the prescribed reference trajectory rejecting matched external disturbances. Performance issues of the constructed controller-observer were illustrated in a numerical study.
Original language | English |
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Title of host publication | The Inverted Pendulum in Control Theory and Robotics |
Publisher | Institution of Engineering and Technology |
Pages | 137-150 |
Number of pages | 14 |
ISBN (Electronic) | 9781785613203 |
DOIs | |
State | Published - 1 Jan 2018 |
Keywords
- Controller-observer
- Feedback
- Modelling and identification
- Multivariable control systems
- Nonlinear control systems
- Observers
- Output feedback second-order sliding-mode tracking control
- Perturbed inertia wheel pendulum
- Robust control
- Robust output feedback tracking control problem
- Second-order sliding-mode observer
- Simulation
- Stability in control theory
- Two-relay control gains
- Uniformly bounded matched disturbances
- Variable structure systems