Adaptive Control of the Inertia Wheel Pendulum System with Unknown Parameter
Yi Wang · Control Engineering of China · 2015
Aimed at the inertia wheel pendulum system with unknown parameters, a design method of controller based on adaptive control theory is proposed. Firstly, through coordinate transformation, the dynamic model of inertia wheel pendulum is transformed into the cascade form. And then, aimed at the problem of uncertain parameters, an adaptive controller is designed through an iterative idea of controller design based on the existent feedback controller of the inertia wheel pendulum system. Through the Lyapunov stability theory, it is proved that the proposed controller can make the inertia wheel pendulum with uncertain parameters keep the stable vertical up state. Finally, referring to a real inertia wheel pendulum, some simulation is taken using its physical parameters. The convergence and the swing-up and stabilization time under different parameters are analyzed. Simulation results show that the inertia wheel pendulum can swing up from the vertical down state to the vertical up state and stabilize using the proposed adaptive controller.