| 基于转换控制定律的倒立摆控制器设计(英文) |
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| 引用本文： | 李春桃,李冬.基于转换控制定律的倒立摆控制器设计(英文)[J].应用数学,2010,23(3). |
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| 作者姓名： | 李春桃 李冬 |
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| 作者单位： | 1. 华中科技大学武昌分校基础科学部,湖北,武汉,430064
2. 华中科技大学计算机科学与技术学院,湖北 武汉,430074 |
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| 摘 要： | 本文研究倒立摆的控制器设计.运用控制转换定律和Lyapunov第二方法,有效解决了由钟的分离角和控制系统中小车的置换引起的强非线性和强耦合性难题.并证明该控制器对由摆的长度和质量以及小车的质量等参数决定的非线性摩擦系数的变化具有强鲁棒性.最后,仿真实验结果证明了该控制器设计的可行性.
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| 关 键 词： | 倒立摆系统 非线性控制 鲁棒性 转换控制定律 |
A New Switching Control Law for Inverted Pendulum |
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| LI Chuntao,LI Dong.A New Switching Control Law for Inverted Pendulum[J].Mathematica Applicata,2010,23(3). |
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| Authors: | LI Chuntao LI Dong |
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| Abstract: | The controller design of inverted pendulum is studied in this paper. By applying switching control law and Lyapunov's second method, the difficulty of the strong nonlinearity and strong coupling caused by departed angle of the pendulum and the displace of the cart in the control scheme can be effectively solved. Moreover, it is proved that the controller have strong robustness for nonlinear friction term parameter variations including length and mass of the pendulum and mass of the cart. Finally, the simulation results are given to demonstrate the feasibility of the designed controller. |
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| Keywords: | Inverted pendulum system Nonlinear control Robustness Switching control law |
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