<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>This article investigates the robust stabilization and control of the inverted pendulum on a cart against disturbances, measurement noises, and parametric uncertainties by the LFT-based LPV technique (Linear-Fractional-Transformation based Linear-Parameter-Varying). To make the applying of the LPV technique possible, the LPV representation of the inverted pendulum on a cart model is developed. Besides, the underactuated constraint of this vehicle is overcome by considering both degrees of freedom (the rotational one and the translational one) in the structure. Moreover, the selection of the weighting functions that represent the desired performance is solved by two approaches of evolutionary algorithms; Genetic Algorithms (GA) and Evolutionary Strategies (ES) to find the weighting functions’ optimal parameters. To validate the proposed approach, simulations are performed and they show the effectiveness of the proposed approach to obtain robust controllers against external signals, as well as the parametric uncertainties.</p>
</abstract>

This article investigates the robust stabilization and control of the inverted pendulum on a cart against disturbances, measurement noises, and parametric uncertainties by the LFT-based LPV technique (Linear-Fractional-Transformation based Linear-Parameter-Varying). To make the applying of the LPV technique possible, the LPV representation of the inverted pendulum on a cart model is developed. Besides, the underactuated constraint of this vehicle is overcome by considering both degrees of freedom (the rotational one and the translational one) in the structure. Moreover, the selection of the weighting functions that represent the desired performance is solved by two approaches of evolutionary algorithms; Genetic Algorithms (GA) and Evolutionary Strategies (ES) to find the weighting functions’ optimal parameters. To validate the proposed approach, simulations are performed and they show the effectiveness of the proposed approach to obtain robust controllers against external signals, as well as the parametric uncertainties.

Robust LFT-LPV H∞ Control of an Underactuated Inverted Pendulum on a Cart with Optimal Weighting Functions Selection by GA and ES

LMSE Laboratory, Electrical Engineering Department

LI3CUB Laboratory, Electrical Engineering Department

Acta Mechanica et Automatica

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

This article investigates the robust stabilization and control of the inverted pendulum on a cart against disturbances, measurement noises, and parametric...

Robust LFT-LPV H∞ Control of an Underactuated Inverted Pendulum on a Cart with Optimal Weighting Functions Selection by GA and ES

Published Online: Mar 08, 2021

Page range: 186 - 197

Received: Mar 23, 2019

Accepted: Jan 18, 2021

DOI: https://doi.org/10.2478/ama-2020-0027

Keywords
Inverted Pendulum on a cart, Robust Control, Underactuated Systems, Linear Parameter Varying Systems, H∞

© 2020 Seif-El-Islam Hasseni et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Robust LFT-LPV H∞ Control of an Underactuated Inverted Pendulum on a Cart with Optimal Weighting Functions Selection by GA and ES

Published Online: Mar 08, 2021

Page range: 186 - 197

Received: Mar 23, 2019

Accepted: Jan 18, 2021

DOI: https://doi.org/10.2478/ama-2020-0027

KeywordsInverted Pendulum on a cart, Robust Control, Underactuated Systems, Linear Parameter Varying Systems, H∞

© 2020 Seif-El-Islam Hasseni et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
Inverted Pendulum on a cart, Robust Control, Underactuated Systems, Linear Parameter Varying Systems, H∞