倒立摆扰动系统的l_1/H_∞滤波器设计

Design of l_1/H_∞ Filter for Inverted Pendulum Disturbance System

在倒立摆平衡系统中,电机作为执行器会混入较大的干扰信号。同时,摆杆的角度也会受到测量噪音污染,从而导致稳摆控制器的输出产生较大的波动。这两种干扰使系统出现较强抖动,既使电机寿命受到影响,也造成摆杆不稳定,所以尝试采用l_1/H_∞滤波方法对二级倒立摆系统进行研究。首先,基于参数依赖Lyapunov函数方法,给出鲁棒l_1/H_∞滤波器存在的充分条件,进一步寻找到求解滤波器参数矩阵的有效方法,既抑制了噪音干扰,又减小了系统抖动,取得了较好的滤波效果。

In the inverted pendulum balance system, the motor, as the actuator, is polluted by the disturbance signal. Besides, the angle is polluted by the measurement noise, which makes the controller output oscillate, and causes strong system oscillations. These two kinds of disturbance not only reduce the motor's service life, but also lead to instability of the pendulum. Therefore this paper tries to use l_1/H_∞ filtering method to discuss the two stage inverted pendulum system. Sufficient conditions for the existence of l_1/H_∞ filter is firstly presented in terms of the parameter-dependent Lyapunov function, and the effective way to determine the filter parameter matrix is found out, which restrains the noise disturbance, decreases the system oscillation, and gets better filtering effects.