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Young Acc 06 Control
Young Acc 06 Control
2
(t) sin ((t) (t))
(1)
M
2
(t) =
1
2
l
1
l
2
m
2
cos ((t) (t))
(t)+
1
3
m
2
l
2
2
(t) +
1
2
gl
2
m
2
sin ()(t)
1
2
l
1
l
2
m
2
2
(t) sin ((t) (t)),
where (t) and (t) are the generalized coordinates, and
M
1
(t) and M
2
(t) are the torques acting on the connecting
joints of rod 1 and rod 2. In general, torque is produced
via an actuator that can nonlinearly depend upon the sys-
tem states and the actual control input, so that M
i
(t) =
M
i
((t), (t), u
i
(t)). With the following notations
f
11
(, ) =
12
l
2
1
[4m
1
+ 12m
2
9m
2
cos
2
( )]
,
f
12
(, ) =
12l
2
+ 18l
1
cos ( )
l
2
1
l
2
[9m
2
cos
2
( ) 4m
1
12m
2
]
,
f
21
(, ) =
18 cos ( )
l
1
l
2
[9m
2
cos
2
( ) 4m
1
12m
2
]
,
Proceedings of the 2006 American Control Conference
Minneapolis, Minnesota, USA, June 14-16, 2006
WeC12.4
1-4244-0210-7/06/$20.00 2006 IEEE 1820
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f
22
(, ) =
12m
1
+ 36m
2
l
2
2
m
2
[4m
1
+ 12m
2
9m
2
cos
2
( )]
+
18l
2
cos ( )
l
1
l
2
2
[4m
1
+ 12m
2
9m
2
cos
2
( )]
,
f
13
(,
, ,
) =
9gm
2
sin (2 )
l
1
[15m
2
+ 8m
1
9m
2
cos (2 2)]
9l
1
m
2
2
sin (2 2)
l
1
[15m
2
+ 8m
1
9m
2
cos (2 2)]
+
12l
2
m
2
2
sin ( )
l
1
[15m
2
+ 8m
1
9m
2
cos (2 2)]
(15gm
2
+ 12gm
1
) sin ()
l
1
[15m
2
+ 8m
1
9m
2
cos (2 2)]
,
f
23
(,
, ,
) =
12l
1
2
sin ( )(m
1
+ 3m
2
)
l
2
[15m
2
+ 8m
1
9m
2
cos (2 2)]
9l
2
m
2
2
sin (2 2)
l
2
[15m
2
+ 8m
1
9m
2
cos (2 2)]
9g sin ( 2)(m
1
+ 2m
2
)
l
2
[15m
2
+ 8m
1
9m
2
cos (2 2)]
+
3g sin ()(m
1
+ 6m
2
)
l
2
[15m
2
+ 8m
1
9m
2
cos (2 2)]
.
The equations in (1) can be solved with respect to
(t) and
(t):
(t) = f
11
(, ) M
1
((t), (t), u
1
(t))+
f
12
(, ) M
2
((t), (t), u
2
(t))+
f
13
(,
, ,
)
(2)
(t) = f
21
(, ) M
1
((t), (t), u
1
(t))+
f
22
(, ) M
2
((t), (t), u
2
(t))+
f
23
(,
, ,
),
(0) =
0
,
(0) =
0
, (0) =
0
,
(0) =
0
,
where
0
,
0
,
0
,
0
are initial conditions. Letting
x
1
(t) = (t), x
2
(t) =
(t), x
3
(t) = (t), x
4
(t) =
(t),
the double pendulum system in (1) can be written in state-
space form:
_
_
x
1
(t)
x
2
(t)
x
3
(t)
x
4
(t)
_
_
=
_
_
0 1 0 0
0 0 0 0
0 0 0 1
0 0 0 0
_
_
_
_
x
1
(t)
x
2
(t)
x
3
(t)
x
4
(t)
_
_
+
_
_
0 0
1 0
0 0
0 1
_
_
_
f
1
(x(t), u(t))
f
2
(x(t), u(t))
_
,
y(t) =
_
1 0 0 0
0 0 1 0
_
x(t), x(0) = x
0
,
where x(t) =
_
x
1
(t) x
2
(t) x
3
(t) x
4
(t)
is the
vector of measurable states, y(t) =
_
y
1
(t) y
2
(t)
is
the vector of regulated outputs, u(t) =
_
u
1
(t) u
2
(t)
M
i
(x, u
i
)
u
i
i
> 0 (4)
for some
i
> 0 and i = 1, 2. The control objective is to
design control input u(t) so that the output y(t) tracks a
desired bounded reference trajectory r
d
(t) asymptotically.
III. CONTROL DESIGN FOR THE PENDULUM SYSTEM
A. Reference Model
Consider a reference system given by:
x
r
(t) = A
r
x
r
(t) + B
r
r(t), t 0, x
r
(0) = x
r,0
y
r
(t) = C
r
x
r
(t),
(5)
where the matrices A
r
, B
r
, and C
r
are dened as
A
r
=
_
_
0 1 0 0
a
r
21
a
r
22
0 0
0 0 0 1
0 0 a
r
43
a
r
44
_
_
,
B
r
=
_
_
0 0
b
r
21
0
0 0
0 b
r
42
_
_
, C
r
=
_
1 0 0 0
0 0 1 0
_
,
x
r
(t) =
_
x
r
1
(t) x
r
2
(t) x
r
3
(t) x
r
4
(t)
denotes the
state vector of the reference system, a
r
21
, a
r
22
, a
r
43
, a
r
44
are
such that A
r
is Hurwitz. Let r
d
(t) =
_
r
d1
(t) r
d2
(t)
,
where f
i
(x, u) have been dened in (3). Dynamic inversion
based control is to be determined from the solution of the
following system of equations
_
f
1
(x, u)
f
2
(x, u)
_
=
_
a
r
21
x
1
a
r
22
x
2
+ b
r
21
r
1
a
r
43
x
3
a
r
44
x
4
+ b
r
42
r
2
_
, (8)
yielding the following asymptotically stable error dynamics:
e(t) = A
r
e(t), e(0) = e
0
.
However, due to the nonlinear expressions in (3), an explicit
expression for u from (8) cannot be obtained, in general.
Following [18], introduce the following fast dynamics to
approximate its solution:
u(t) = (t, e(t), u(t))Q
1
(t, e(t))f (t, e(t), u(t)), (9)
u(0) = u
0
, 0 < 1,
where
f (t, e, u) =
_
_
f
1
(e + x
r
(t), u) + a
r
21
(x
r
1
(t) + e
1
)+
a
r
22
(x
r
2
(t) + e
2
) b
r
21
r
1
(t)
f
2
(e + x
r
(t), u) + a
r
43
(x
r
3
(t) + e
3
)+
a
r
44
(x
r
4
(t) + e
4
) b
r
42
r
2
(t)
_
_
, (10)
Q(t, e) =
_
f
11
(e + x
r
(t)) f
12
(e + x
r
(t))
f
21
(e + x
r
(t)) f
22
(e + x
r
(t))
_
, (11)
and
(t, e, u) =
_
M
1
(e+x
r
(t),u
1
)
u1
0
0
M
2
(e+x
r
(t),u
2
)
u2
_
. (12)
We note that Q(t, e)(t, e, u) is the 2 x 2 Jacobian matrix
_
f1
u
1
(e + x
r
(t), u
1
)
f1
u
2
(e + x
r
(t), u
2
)
f
2
u
1
(e + x
r
(t), u
1
)
f
2
u
2
(e + x
r
(t), u
2
)
_
,
where
f
1
u
1
(e + x
r
(t), u
1
) = f
11
(e + x
r
(t))
M
1
(e + x
r
(t), u
1
)
u
1
f
1
u
2
(e + x
r
(t), u
2
) = f
12
(e + x
r
(t))
M
2
(e + x
r
(t), u
2
)
u
2
f
2
u
1
(e + x
r
(t), u
1
) = f
21
(e + x
r
(t))
M
1
(e + x
r
(t), u
1
)
u
1
f
2
u
2
(e + x
r
(t), u
2
) = f
22
(e + x
r
(t))
M
2
(e + x
r
(t), u
2
)
u
2
.
We also notice that the matrix Q(x) can be row reduced us-
ing the explicit forms of f
11
(x), f
12
(x), f
21
(x) and f
22
(x)
and rewritten as
_
1 q
1
(x)
0 q
2
(x)
_
, (13)
in which
q
2
(x) =
4l
1
m
1
+ 12l
1
m
2
9l
1
m
2
cos
2
(x
3
x
1
)
2l
2
m
2
,= 0
for any x R
4
, which implies that Q(x) is full rank, so
that its inverse, used in (9), is well-dened. We argue that
the solution of the singularly perturbed system (7), (9) will
solve the tracking problem. Towards that end, we recall
Tikhonovs theorem from singular perturbations theory.
IV. CONVERGENCE ANALYSIS OF THE NONAFFINE
CONTROL LAW
A. Tikhonovs Theorem
Consider the problem of solving the following singularly
perturbed system
0
:
_
x(t) = f(t, x(t), u(t), ), x(0) = ()
u(t) = g(t, x(t), u(t), ), u(0) = ()
_
, (14)
where : () and : () are smooth, f
and g are continuously differentiable in their arguments for
(t, x, u, ) [0, ] D
x
D
u
[0,
0
], where D
x
R
n
and D
u
R
m
are domains, and
0
> 0. Let
0
be in
standard form, that is,
0 = g(t, x, u, 0) (15)
has k 1 isolated real roots u = h
i
(t, x), i 1, ..., k
for any (t, x) [0, ] D
x
. Choose one particular i and
drop the subscript henceforth. Let (t, x) = u h(t, x).
Then the system given by
00
: x(t) = f(t, x(t), h(t, x(t), 0), x(0) = (0), (16)
is called the reduced system, and the system given by
b
:
d
d
= g(t, x, + h(t, x), 0), (0) =
0
h(t,
0
) (17)
is called the boundary layer system, where
0
= (0) and
0
= (0) are xed initial parameters, and (t, x) [0, )
D
x
. The new time scale is related to the original one via
=
t
0
given in (14) and let u = h(t, x) be an isolated root
of (15). Assume that the following conditions are satised
for all [t, x, u h(t, x), ] [0, ) D
x
D
v
[0,
0
]
for some domains D
x
R
n
and D
v
R
m
, which contain
their respective origins:
A1. On any compact subset of D
x
D
v
, the functions f,
g, their rst partial derivatives with respect to (x, u, ),
and the rst partial derivative of g with respect to t are
continuous and bounded, h(t, x) and
_
g
u
(t, x, u, 0)
_
have bounded rst derivatives with respect to their
1822
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arguments,
_
f
x
(t, x, h(t, x))
_
is Lipschitz in x, uni-
formly in t, and the initial data given by and are
smooth functions of .
A2. The origin is an exponentially stable equilibrium point
of the reduced system
00
given by equation (16).
There exists a Lyapunov function V : [0, ) D
x
[0, ) that satises
W
1
(x) V (t, x) W
2
(x)
V
t
(t, x) +
V
x
(t, x)f(t, x, h(t, x), 0) W
3
(x)
for all (t, x) [0, ) D
x
, where W
1
, W
2
, W
3
are continuous positive denite functions on D
x
,
and let c be a nonnegative number such that x
D
x
[ W
1
(x) c is a compact subset of D
x
.
A3. The origin is an equilibrium point of the boundary
layer system
b
given by equation (17), which is
exponentially stable uniformly in (t, x).
Let R
v
D
v
denote the region of attraction of the
autonomous system
dv
d
= g(0,
0
, v + h(0,
0
), 0), and let
v
be a compact subset of R
v
. Then for each compact set
x
x D
x
[ W
2
(x) c, 0 < < 1, there exists
a positive constant
0
h(0,
0
)
v
and 0 < <
,
0
has a unique
solution x
on [0, ) and
x
(t) x
00
(t) = O()
holds uniformly for t [0, ), where x
00
(t) denotes the
solution of the reduced system
00
in (16).
We will refer to the following Remark which will be used
to prove exponential stability of the boundary layer system.
Remark 1: Verication of Assumption A3 can be done
via a Lyapunov argument: if there is a Lyapunov function
V : [0, ) D
x
D
v
that satises
c
1
|v|
2
V (t, x, v) c
2
|v|
2
(18)
V
v
g(t, x, v + h(t, x)) c
3
|v|
2
, (19)
for all (t, x, v) [0, ) D
x
D
v
, then Assumption A3
is satised.
B. Convergence Result
The condition in (4) implies existence of an isolated root
for f (t, e, u) = 0. Let u = h(t, e) denote this isolated root.
Following Theorem 4.1, the reduced system for (7), (9) is
given by
e(t) = A
r
e(t), e(0) = e
0
, (20)
and the boundary layer system is given by
d
d
= (t, e, + h(t, e))Q
1
(t, e)f (t, e, + h(t, e)), (21)
with (0) =
0
.
The main theorem of this paper is stated as follows:
Theorem 4.2: Subject to the condition in (4), the origin
of (21) is exponentially stable. Moreover, there exists an
> 0 and a T > 0, such that for all t T and 0 < <
,
the system given by (3), (9) has a unique solution on [0, ),
x
(t) = x
r
(t) + O() holds uniformly for t [T, ).
Proof. We will verify that the assumptions in Tikhonovs
theorem are satised. Verication of A1 is straightforward,
since the condition in (4) implies that for any compact
subset, the function f and its rst partial derivatives with
respect to t are continuous and bounded, h(t, e) and
f
u
(t, e, + h(t, e)) have bounded rst derivatives with
respect to their arguments, and
f
e
(t, e, + h(t, e)) is
Lipschitz in e, uniformly in t. Since A
r
is Hurwitz by
denition, the origin is an exponentially stable equilibrium
point for the reduced system given in (20), and, hence, A2
is satised.
For verication of A3, consider the following Lyapunov
function candidate for the boundary layer system (21):
V (t, e, ()) =
_
Q
1
(t, e)f (t, e, () + h(t, e))
_
_
Q
1
(t, e)f (t, e, () + h(t, e))
_
. (22)
Since f (t, e, h(t, e)) = 0, then Q
1
(t, e)f (t, e, h(t, e)) = 0,
and hence V (t, e, 0) = 0. Therefore
V (t, e, ) =
_
L
V (t, e, s)ds, (23)
where
_
L
assumes integration along the
pass L from zero to , and V (t, e, ) =
_
Q
1
(t, e)f (t, e, + h(t, e))
_
(Q
1
(t, e))
(t, e, s
1
+ h(t, e))
(t, e, s + h(t, e))ds, (25)
where
_
L
,
_
L
1
assume integration along the pass L and L
1
from zero to , s, respectively. From (4), (12), one can de-
rive that
min
_
(t, e, s
1
+ h(t, e))(t, e, s + h(t, e))
_
min(
2
1
,
2
2
), where
min
() denotes the minimum eigen-
value. Consequently,
V (t, e, )
_
L
_
L
1
min
_
(t, e, s
1
+ h(t, e))
_
(t, e, s + h(t, e)))(ds
1
)
ds
=
_
||||
0
_
0
min
_
(t, e, s
1
+ h(t, e))
_
(t, e, s + h(t, e))) dd. (26)
Therefore,
V (t, e, ) c
1
[[[[
2
. (27)
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Condition A1 implies that there exists c
2
such that
V (t, e, ) c
2
[[[[
2
, which veries (18). Using the rela-
tionships in (21) and (22), one obtains
V (t, e, ) = (Q
1
(t, e)f (t, e, + h(t, e)))
(t) = x
r
(t) + O() holds
uniformly for t [T, ).
V. SIMULATIONS
For simplicity, let m
1
= m
2
= 1 kg, l
1
= l
2
= 1 m,
and let g = 9.81 m/s
2
. Since actuator models are often
represented by hyperbolic tangent functions of control input
u, we assume that M
1
and M
2
are given as
M
1
(u
1
) = tanh(u
1
) + 0.35u
1
M
2
(u
2
) = tanh(u
2
) + 0.25u
2
,
so that
M
1
(u
1
)
u
1
0.35 > 0,
M
2
(u
2
)
u
2
0.25 > 0.
From (13) it follows that the matrices Q(t, x) and (u) are
given by
Q(x) =
_
f
11
(x) f
12
(x)
f
21
(x) f
22
(x)
_
,
(u) =
_
1.35 tanh
2
(u
1
) 0
0 1.25 tanh
2
(u
2
)
_
.
We consider the following reference input:
r
d
(t) =
_
sin (t) + e
t
sin (2t) + e
t
.
(29)
This parametrization ensures that as the exponential term
decays, x
1
and x
3
follow a gure pattern as described
in [20]. Let
A
r
=
_
_
0 1 0 0
20 9 0 0
0 0 0 1
0 0 6 5
_
_
, B
r
=
_
_
0 0
20 0
0 0
0 6
_
_
.
In order to ensure asymptotic convergence of the states
x
1
(t) and x
3
(t) to the reference input, we dene r(t) as
r(t) =
_
1 0
0 1
_
r
d
(t) +
_
9
20
0
0
5
6
_
r
d
(t) +
_
1
20
0
0
1
6
_
r
d
(t).
The fast dynamics are designed as:
0.003 u(t) = (u(t))(Q
1
(t, e))
f (t, e, u(t)),
u
0
=
_
0 0
,
where
f (t, e, u) =
_
_
f
1
(e + x
r
(t), u) + 20(e
1
+ x
r
1
(t))+
9(e
2
+ x
r
2
(t)) 20
_
r
d1
(t) +
9
20
r
d1
(t)
_
r
d1
(t)
f
2
(e + x
r
(t), u) + 6(e
3
+ x
r
3
(t))+
5(e
4
+ x
r
4
(t)) 6
_
r
d2
(t) +
5
6
r
d2
(t)
_
r
d2
(t)
_
_
.
The initial values used for this numerical simulation are:
x
0
= [0 0 0 0]
and x
r
0
= [0 0 0 0]