APPRENTISSAGE DE COMMANDE POUR LE SUIVI DE TRAJECTOIRE D'UN PENDULE INVERSÉ À ROUE D'INERTIE NON LINÉAIRE
DOI :
https://doi.org/10.59277/RRST-EE.2023.4.17Mots-clés :
Système sous-actionné non linéaire, Algorithme de contrôle d’apprentissage itératif, La stabilité, SuiviRésumé
Cet article propose le contrôle d'apprentissage itératif pour les systèmes sous-actionnés non linéaires. Pour améliorer la vitesse de convergence du contrôle d'apprentissage itératif pour de tels systèmes et réduire la fluctuation de l'erreur du système, un algorithme de contrôle d'apprentissage itératif en boucle fermée de type D à gain variable exponentiel a été choisi. L'analyse de simulation MATLAB a ensuite été réalisée sur un système sous-actionné, non linéaire et instable, à savoir le pendule inversé à roue d'inertie. Les résultats de la simulation montrent que l'algorithme est efficace. De bonnes performances de suivi ont été obtenues. Le système converge vers des cycles limites stables après quelques itérations, garantissant des erreurs fluides et une vitesse de convergence satisfaisante.
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