Abstract: An anti-interference backstepping control method based on an independent reference model was proposed, which performs well in the application of classic single stage linear inverted pendulum systems. Firstly, a backstepping controller for a single stage linear inverted pendulum is designed and an independent reference model of the system is obtained. At his point, if the single stage linear inverted pendulum is disturbed, it will deviate from the ideal value of the independent reference model. To improve the anti-interference performance of a single stage linear inverted pendulum, a generalized state error is introduced, which refers to the error between the independent reference model output and the actual system output. Then, based on the generalized state error and backstepping control method, the controller is designed using Lyapunov stability theory. Finally, a single stage linear inverted pendulum anti-interference backstepping controller based on an independent reference model was obtained. The simulation results show that the controller can effectively suppress the influence of external interference on the single stage linear inverted pendulum, and has strong robustness and anti-interference ability.

Key words: independent reference model, anti-interference, backstepping control, generalized state error, single stage linear inverted pendulum

摘要： 提出了一种基于独立参考模型的抗干扰反步控制方法,并在经典的单级直线倒立摆系统的应用中表现出色。首先,设计单级直线倒立摆的反步控制器并得到系统的独立参考模型,此时单级直线倒立摆若受到干扰将会偏离独立参考模型的理想值,为提高单级直线倒立摆的抗干扰性能,引入广义状态误差,即独立参考模型输出与系统实际输出的误差,然后基于广义状态误差和反步控制方法利用Lyapunov稳定性理论设计控制器,最终得到基于独立参考模型的单级直线倒立摆抗干扰反步控制器。仿真结果表明,该控制器能够有效抑制外界干扰对单级直线倒立摆的影响,具有较强的鲁棒性和抗干扰能力。

关键词: 独立参考模型, 抗干扰, 反步控制, 广义状态误差, 单级直线倒立摆