Robust feedback control of the underactuated Inertia Wheel Inverted Pendulum under parametric uncertainties and subject to external disturbances: LMI formulation |
| |
| Institution: | 1. Institut Supérieur des Technologies de l’Information et de la Communication, Université de Carthage, Borj Cedria 1164, Tunis, Tunisia;2. Laboratoire Robotique, Informatique et Systèmes Complexes (RISC-LR16ES07), Ecole Nationale d’Ingénieurs de Tunis, Université de Tunis El Manar, BP. 37, Le Belvédère, 1002 Tunis, Tunisia;1. Institut Supérieur des Technologies de l’Information et de la Communication, Université de Carthage, 1164 Borj Cedria, Tunis, Tunisia;2. Laboratoire Robotique, Informatique et Systèmes Complexes (RISC), Ecole Nationale d’Ingénieurs de Tunis, Université de Tunis El-Manar, BP. 37, Le Belvédère, Tunis 1002, Tunisia;1. Institute of Systems Science, Northeastern University, Shenyang 110819, PR China;2. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang 110819, PR China |
| |
| Abstract: | This paper proposes a robust feedback controller using Linear Matrix Inequalities (LMIs) formulation for the stabilization of an underactuated mechanical system, namely the Inertia Wheel Inverted Pendulum (IWIP), in its upright position. Such mechatronic system is subject to state constraints, external disturbances and norm-bounded parametric uncertainties. The main idea to solve the stabilization problem lies in the use of the S-procedure Lemma. Such problem is then transformed into a solving problem of Bilinear Matrix Inequalities (BMIs). Through the Schur complement Lemma and the Matrix Inversion Lemma, a linearization procedure is employed to transform the BMIs into LMIs. Some improvements and comparisons with other LMI-based design techniques without state constraints are developed and discussed. An extensive portfolio of numerical studies is presented. The effectiveness and robustness of the proposed feedback controller toward uncertainties in the friction parameters and external disturbances are illustrated through simulation results. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
