Characteristic model based golden section adaptive control of cart-inverted pendulum system

Author

Liang Qing ; Wang Chuanbang ; Pan Jinwen ; Zhong Hua ; Wang Yong

Author_Institution

Dept. of Autom., Univ. of Sci. & Technol. of China, Hefei, China

fYear

2014

fDate

28-30 July 2014

Firstpage

1988

Lastpage

1993

Abstract

This paper applied the Characteristic Modelling Theory to a cart-inverted pendulum system. Firstly, the characteristic model of the cart-inverted pendulum is deduced, and the ranges of characteristic parameters are estimated. Secondly, a type of Golden Section Adaptive(GSA) controller with logical integral, logical derivative control law and a gradient descent algorithm to identify the parameters is proposed for the characteristic model. Finally, the designed controller is implemented on the cart-inverted pendulum system, and the experiments validate the effectiveness of the designed control law. Compared with the PID, LQR, the proposed method is simpler and easier to implement and has a better performance.

Keywords

adaptive control; gradient methods; nonlinear control systems; parameter estimation; GSA controller; LQR; PID; cart-inverted pendulum system; characteristic model based golden section adaptive control; characteristic modelling theory; characteristic parameter estimation; gradient descent algorithm; logical integral logical derivative control law; Abstracts; Adaptation models; Adaptive control; Automation; Computational modeling; Educational institutions; Electronic mail; characteristic model; golden section adaptive control; inverted pendulum; parameter estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896935

Filename

6896935