论文信息 - Research on the Control Method of Inverted Pendulum Based on Kalman Filter

Research on the Control Method of Inverted Pendulum Based on Kalman Filter

Inverted pendulum is a nonlinear, multivariable and instability system. In the past, without considering the effects of measurement noise and output noise of the sensor in the processing of inverted pendulum control, the strong random jitter occur, and the control accuracy and stable of the inverted pendulum is reduced. Because the Kalman filter can estimate the signal is corrupted by the noise, the filtered system will have fine robustness and dynamic performance. Inverted pendulum in the straight line car is given as example, and the application of Kalman filter in the inverted pendulum control system is described in the paper.

Wang Lirong | Zhang Wanli | Li Guoxin

[1] Cheng-Jian Lin,et al. AN EFFICIENT EVOLUTIONARY NEURAL FUZZY CONTROLLER FOR THE INVERTED PENDULUM SYSTEM , 2014, Cybern. Syst..

[2] Yuanqing Xia,et al. A Novel Delta Operator Kalman Filter Design and Convergence Analysis , 2011, IEEE Transactions on Circuits and Systems I: Regular Papers.

[3] Olfa Boubaker,et al. The Inverted Pendulum Benchmark in Nonlinear Control Theory: A Survey , 2013 .

[4] Bor Yann Liaw,et al. Improved extended Kalman filter for state of charge estimation of battery pack , 2014 .

[5] Yuan Gao,et al. Uncertain inference control for balancing an inverted pendulum , 2012, Fuzzy Optim. Decis. Mak..

[6] Binyu Xiong,et al. Extended Kalman filter method for state of charge estimation of vanadium redox flow battery using thermal-dependent electrical model , 2014 .

[7] Analysis of motion of inverted pendulum with vibrating suspension axis at low-frequency excitation as an illustration of a new approach for solving equations without explicit small parameter , 2014 .