Title :
Application of adaptive backstepping to the stabilization of the inverted pendulum
Author :
Benaskeur, A. ; Desbiens, A.
Author_Institution :
Groupe de Recherche sur les Applications de l´´Inf. a l´´Ind. Miner., Laval Univ., Que., Canada
Abstract :
In this paper we propose a nonlinear Lyapunov-based controller to stabilize the famous cart-pole system. The novelty is in the use of a two-loop cascade controller. The inner loop uses an adaptive nonlinear controller, obtained by the backstepping recursive approach. It ensures the stabilization and the convergence towards zero of the angle tracking error and the (unknown) rod length estimation error. The reference signal to be tracked by the angle is generated by the outer loop linear controller. The controlled part of the system (rod angle) has thus a quasi-linear dynamics, which can be modeled by a double-integration with a variable gain. An indirect MRA controller is used to compensate the outer loop (cart position)
Keywords :
Lyapunov methods; compensation; control system synthesis; model reference adaptive control systems; nonlinear control systems; pendulums; stability; adaptive backstepping; adaptive nonlinear controller; angle tracking error convergence; backstepping recursive approach; cart-pole system; inverted pendulum; nonlinear Lyapunov-based controller; outer loop compensation; outer loop linear controller; quasi-linear dynamics; reference signal tracking; rod length estimation error; stabilization; two-loop cascade controller; Adaptive control; Backstepping; Control systems; Convergence; Estimation error; Gain; Nonlinear control systems; Programmable control; Signal generators; Tracking loops;
Conference_Titel :
Electrical and Computer Engineering, 1998. IEEE Canadian Conference on
Conference_Location :
Waterloo, Ont.
Print_ISBN :
0-7803-4314-X
DOI :
10.1109/CCECE.1998.682564