Affiliations: [a]
Department of Communications, Navigation and Control Engineering, National Taiwan Ocean University, Jhongjheng District, Keelung City, Taiwan, R.O.C. | [b]
Department of Electrical Engineering, Chien-Hsin University, Chung-Li, Tao-Yuan, Taiwan, R.O.C. | [c]
Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, Tamsui, Taipei County, Taiwan, R.O.C.
Correspondence:
[*]
Corresponding author. Chih-Hui Chiu, Department of Communications, Navigation and Control Engineering, National Taiwan Ocean University, Jhongjheng District, Keelung City, 202, Taiwan, R.O.C. Tel.: +886 2 2462 2192; Fax: +886 2 2463 3492; E-mail: chchiu@ntou.edu.tw.
Abstract: In this work, an intelligent decoupled backstepping control system (IDBCS) is proposed for mobile inverted pendulums (MIPs) real-time control. This control system combined with adaptive output recurrent cerebellar model articulation controller (AORCMAC) and H∞ control theory. The AORCMAC is designed to imitate an ideal backstepping controller, and the H∞ controller is used to mitigate the effect of the approximation errors and outer disturbances. The decoupled method provides an easy way to achieve asymptotic stability control for a fourth-order nonlinear mobile inverted pendulum system. The concept of the decoupled approach is to decouple the whole system into two subsystems such that each subsystem has an individual control target. Then, the secondary subsystem provides information for the main subsystem, which generates a control action to make both subsystems move to their targets, respectively. In other words, it means that a fourth-order MIP system can be controlled well based on a second-order dynamic model. Moreover, all the adaptation laws of the IDBCS are obtained based on Lyapunov stability criterion, Taylor linearization technique and H∞ control technique, so that the stability of the system can be guaranteed. Experiment results show that the MIP can stand stably when it moves toward a given position.
Keywords: Mobile inverted pendulum, backstepping tracking control, H∞
control, output recurrent cerebellar model articulation control, decoupled intelligent controller
