Paper Info
Title
Singularity-Conquering Zg Controllers Of Z2g1 Type For Tracking Control Of The Ipc System
Abstract
With wider investigations and applications of autonomous robotics and intelligent vehicles, the inverted pendulum on a cart (IPC) system has become more attractive for numerous researchers due to its concise and representative structure. In this article, the tracking-control problem of the IPC system is considered and investigated. Based on Zhang dynamics (ZD) and gradient dynamics (GD), a novel kind of ZG controllers are developed and investigated for achieving the tracking-control purpose, which contains controllers of z2g0 and z2g1 types according to the number of times of using the ZD and GD methods. Besides, theoretical analyses are presented to guarantee the global and exponential convergence performance of both z2g0 and z2g1 controllers. Computer simulations are further performed to substantiate the feasibility and effectiveness of ZG controllers. More importantly, comparative simulation results demonstrate that controllers of z2g1 type can conquer the singularity problem (i.e. the division-by-zero problem).
Year
DOI
Venue
2014
10.1080/00207179.2014.883648
INTERNATIONAL JOURNAL OF CONTROL
Keywords
Field
DocType
inverted pendulum on a cart, tracking control, Zhang dynamics, gradient dynamics, singularity
Inverted pendulum,Control theory,Singularity,Control engineering,Artificial intelligence,Exponential convergence,Robotics,Mathematics
Journal
Volume
Issue
ISSN
87
9
0020-7179
Citations 
PageRank 
References 
11
0.64
24
Authors
5
Name
Order
Citations
PageRank
Yunong Zhang12344162.43
Xiaotian Yu2201.80
Yonghua Yin3697.58
Chen Peng4223.15
Zhengping Fan5304.09