### Robust and adaptive control of uncertain planar double inverted pendulum

WANG Hongqi, MAO Amin

1. School of Electrical Engineering and Automation, Henan Polytechnic University, Jiaozuo, Henan 454000, China
• Online:2015-06-01 Published:2015-06-12

### 不确定平面二级倒立摆的鲁棒自适应控制

1. 河南理工大学 电气工程与自动化学院，河南 焦作 454000

Abstract: In order to improve the ability to resist disturbance of inverted pendulum control system, and reduce the sensitivity to the unmodeled dynamics, etc., a design of the uncertain robust adaptive controller for planar double inverted pendulum is studied. The dynamic model of the inverted pendulum is broken down into two parts of the certainty and the uncertainty, using a nonlinear parametric fuzzy logic system to approximate the uncertain dynamic of the planar double inverted pendulum, and then a set of robust controller and adaptive laws are derived based on Lyapunov stability theory which makes the state errors of the planar double inverted pendulum asymptotic convergence. Theoretical analysis and simulation results show that the designed controller is effective.