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

摘要

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-ParameterVarying). 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.