控制理论与应用2026，Vol.43Issue(3)：684-690,7.DOI:10.7641/CTA.2024.30555
基于离散时间输出调节方法的二级倒立摆跟踪控制
Tracking control of double inverted pendulum based on discrete-time output regulation method
摘要
Abstract
Double inverted pendulum is a typical multivariable nonlinear underactuated mechanical system.Meanwhile,time-varying friction force exists between the cart and rail.Thus the high precision tracking control problem of double inverted pendulum is quite challenging.In this paper,based on approximate discrete-time output regulation theory,a third-order controller combined with adaptive friction compensation is proposed to solve the tracking control problem of double inverted pendulum with time-varying reference signal.Firstly,a polynomial approximation method based on approximate discrete-time output regulation theory is adopted to design a third-order controller to realize the tracking control of the double inverted pendulum without friction.Then,considering that the friction force between the cart and rail will affect the tracking performance,in this paper,an adaptive friction compensator is designed and then combined with the third-order controller to synthesize the final control scheme.Finally,the experimental results show that the proposed control algorithm can lead to satisfactory tracking performance.关键词
二级倒立摆/跟踪控制/输出调节/摩擦补偿/欠驱动机械系统Key words
double inverted pendulum/tracking control/output regulation/friction compensation/underactuated me-chanical system引用本文复制引用
张文军,平兆武,黄云志,葛锁良,卢俊国..基于离散时间输出调节方法的二级倒立摆跟踪控制[J].控制理论与应用,2026,43(3):684-690,7.基金项目
国家自然科学基金项目(62273127,62073217),中央高校基本科研业务费项目(JZ2025HGTG0293),安徽省重点研发计划项目(2022a05020025)资助.Supported by the National Natural Science Foundation of China(62273127,62073217),the Fundamental Research Funds for the Central Universities(JZ2025HGTG0293)and the Anhui Provincial Key Research and Development Project(2022a05020025). （62273127,62073217）
