Earticle

초록

영어

In this paper a design methodology for a novel robust adaptive backstepping controller for the stabilization control of an inverted pendulum on a movable cart, which is a benchmark control problem in the nonlinear control system paradigm, has been presented in a systematic manner. The proposed control law provides a systematic iterative formulation of a Lyapunov energy function for the inverted pendulum system to ensure its stabilization and convergence of the angle tracking error as well as the estimation error of its unknown parameters towards zero. For easier parameter adaptation, the model of the inverted pendulum has been transformed into a motion control model. The effectiveness of the proposed algorithm has been verified in simulation studies. The controller design has been evaluated not only for the tracking performance but also for the parameter convergence rate of the system. It is quite interesting to note that during the simulation it does not require any prior information about the parameters of the mathematical model of the inverted pendulum.

목차

Abstract
 1. Introduction
 2. Modeling of System Dynamics
 3. Design of Robust Adaptive Backstepping Control Law
  3.1. Adaptive Backstepping Control Law
  3.2. Robust Adaptive Backstepping Control Law
 4. Simulation Results
 5. Conclusions
 List of Notations
 References

키워드

저자

• Shubhobrata Rudra [ Department of Electrical Engineering Jadavpur University ]
• Ranjit Kumar Barai [ Department of Electrical Engineering Jadavpur University ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605