Identification of n-link inverted pendulum on a cart

J. Königsmarková, M. Schlegel
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引用次数: 5

Abstract

The identification procedure specially designed for an n-link inverted pendulum on a cart is presented. By the Lagrangian mechanics, the mathematical model of the n-link inverted pendulum is established initially. To fully model the system, the standard dynamic parameters which are some algebraic functions of geometric, inertial, and friction parameters are introduced. Because the dynamic model of the n-link inverted pendulum is linear with respect to these parameters, the ordinary and weighted least squares techniques can be applied to estimation their values and the corresponding standard deviations. Also, the exact algorithms for numerical differentiation used in the formation of the regression model are described in detail. Finally, the results from identification of the real triple inverted pendulum are presented.
小车上n连杆倒立摆的辨识
提出了一种专门设计用于小车上n连杆倒立摆的辨识方法。利用拉格朗日力学,初步建立了n连杆倒立摆的数学模型。为了对系统进行完整的建模,引入了标准动力学参数,即几何、惯性和摩擦参数的代数函数。由于n杆倒立摆的动力学模型与这些参数呈线性关系,因此可以应用普通最小二乘和加权最小二乘方法来估计它们的值和相应的标准差。此外,还详细描述了用于形成回归模型的数值微分的精确算法。最后,给出了实际三联倒立摆的辨识结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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