The Research on Human Simulating Intelligent Control of the Inverted Pendulum Based on Feedback Linearization

Abstract:

In this paper, the partial feedback linearization was made for the non-linear model of the triple inverted pendulum, by means of the differential geometry. Then the simulation and analysis of tracking control and interference control were made, which combined with the human simulating intelligent control and LQR control in the system. The results show that the human simulating intelligent control can achieve better control results than the LQR control, it not only can effectively improve the stability of the system, but also the anti-interference ability is better than LQR control, it meets the control requirements of the triple inverted pendulum.

• Periodical: Advanced Materials Research (Volume 710)
• Pages: 511-514
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.710.511
• Online since: June 2013
• Authors: Ling Zhang, Shi Zhong Hu
• Keywords: Feedback Linearization, Human Simulating Intelligent Control, Simulation, Triple Inverted Pendulum

References

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