Inverted pendulum system integral sliding mode control method for dollies with unknown hysteresis loops

Abstract

The invention discloses an inverted pendulum system integral sliding mode control method for dollies with unknown hysteresis loops. The method comprises the following steps: building a dynamic model for an inverted pendulum system; conducting equivalent transformation together with hysteresis loops; initializing the system, sampling time and controlling parameters; together with sliding mode control and an inverted method, introducing a virtual control variable into the design of every step, and finally inferring the input for a self-adaptive controller; at the same time, utilizing the characteristics of a Nussbaum function, which solves the problem with unknown control directions; and calculating the tracking errors of the control system, the integral sliding mode surface, errors in variables and differentiations. The control method provided by the invention can effectively improve the position of an inverted pendulum system, which ensures that the inverted pendulum system to quickly and stably converge to the zero point, thus effectively eliminating the buffeting problems in sliding mode control.

Description

technical field [0001] The invention relates to a sliding mode control method for an inverted pendulum system, in particular to an integral sliding mode control method for a trolley inverted pendulum system with an unknown hysteresis loop. Background technique [0002] Inverted pendulum is a typical multivariable, strongly coupled nonlinear system. However, recent studies have shown that the control direction of the inverted pendulum is unknown under certain conditions, and the unknown control direction makes the design of the controller a difficult problem. Therefore, how to design a controller for a nonlinear system whose control direction is unknown has become one of the key problems to be solved urgently in control. [0003] Sliding Mode Control (SMC) is widely used in the research of chaos control due to its low requirements on the mathematical model of the system and its strong robustness to system parameter perturbations and external disturbances. However, due to th...

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Problems solved by technology

[0004] In order to overcome the shortcomings of the existing inverted pendulum system that the control direction is unknown under certain parameter conditions and the chattering problem in the sliding mode control cannot be eliminated, the present invention provides an integral sliding mode control method for the inverted pendulum system based on the extended state observer, eliminating All the states of the system are completely measurable, the extended state observer is used to estimate the system state and uncertain items, and the integral sliding mode controller is designed based on the estimated value, combined with the Nussbaum function, the problem of unknown control direction is solved, and the system is guaranteed to converge quickly and stably to zero point

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