The Optimal Stabilization of Cart-Pole System: A Modified Forwarding Control Method

Guowei Xu
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引用次数: 1

Abstract

In this paper, an improved design method is proposed to extend the field of the application of the common integrator forwarding technique. This method is used to design a stabilizer for the cart-pole system. Moreover, it is show that the control Lyapunov function which is obtained from this method can also be used to design a globally asymptotically stabilizing controller with optimality. Computer simulations are given for illustration and verification.
车杆系统的最优镇定:一种改进的转发控制方法
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