| 基于滑模方法的倒立摆台车系统的非线性控制 |
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| 引用本文： | 贾诺,王辉.基于滑模方法的倒立摆台车系统的非线性控制[J].应用泛函分析学报,2008,10(3):234-237. |
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| 作者姓名： | 贾诺 王辉 |
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| 作者单位： | 哈尔滨师范大学数学系,哈尔滨,150025 |
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| 基金项目： | 黑龙江省自然科学基金，哈尔滨师范大学科学研究基金 |
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| 摘 要： | 以倒立摆台车系统为研究对象，将系统状态分成两组，构造出一种双层滑动面，给出一种基于滑模控制的非线性控制律，并设计了控制器参数．然后采用Lyapunov方法，证明了各级滑动平面的稳定性，实现了台车在水平方向位置及摆角的渐近跟踪．
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| 关 键 词： | 倒立摆台车系统 滑模控制 渐近跟踪 |
Nonlinear Control of an Inverted Pendulum System Based on Sliding-Mode Method |
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| JIA Nuo,WANG Hui.Nonlinear Control of an Inverted Pendulum System Based on Sliding-Mode Method[J].Acta Analysis Functionalis Applicata,2008,10(3):234-237. |
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| Authors: | JIA Nuo WANG Hui |
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| Institution: | (Mathematics Department, Harbin Normal University, Harbin 150025, China) |
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| Abstract: | This paper addresses control system design for an inverted pendulum system. The system states are divided into two parts and a kind of two-layer sliding surface is constructed, then a nonlinear controller based on sliding-mode method is given and further the parameters of the controller are designed. Moreover, the stability of all sliding surfaces is proved by using Lyapunov method and the system can track the given trajectories. |
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| Keywords: | inverted pendulum sliding-mode control trajectory tracking |
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