Nonlinear control of swing-up and stabilization of an inverted pendulum

组合机床与自动化加工技术 Pub Date : 2003-01-01 DOI:10.9746/sicetr1965.34.e1

F. Ying

引用次数: 1

Abstract

In this paper, we studied swing-up and stabilization problems for an inverted pendulum. An effective control method of stabilizing an inverted pendulum system without resorting to any approximation of each nonlinear term appearing in mathematical models is presented. The key idea was to derive a partially linearized system using the coordinate change and input transformation via the Lie theoretic approach. On the other hand, we proposed a nonlinear state feedback control law to regulate the swinging energy of the pendulum system.

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倒立摆摆起与稳定的非线性控制

本文研究了倒立摆的起摆和镇定问题。提出了一种不需要对数学模型中出现的每一个非线性项进行逼近而使倒立摆系统稳定的有效控制方法。其核心思想是通过李论方法利用坐标变化和输入变换推导出部分线性化的系统。另一方面，提出了一种非线性状态反馈控制律来调节摆系统的摆动能量。

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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来源期刊

组合机床与自动化加工技术机械工程

自引率

0.00%

发文量

13764

期刊介绍： ZUHE JICHUANG YU ZIDONGHUAJIAGONGJISHU was founded in 1959, by the China Association of Science and Technology, China Mechanical Engineering society and Dalian Combined machine tool Research Institute co-sponsored, is a domestic and foreign public mechanical engineering academic journal. Main columns: Design and research, control and testing, process and equipment, special review, advanced management technology Information included: Chinese core periodical Core journal of Chinese science and technology High quality journals in Mechanical Engineering (Level T3) Science and Technology Journals World Impact Index (WJCI) Chinese science and technology paper statistical source journal RCCSE China core academic journal Journals are included in INSPEC, AJ and JST databases Chinese academic journals Comprehensive evaluation database source journals Full-text journals are included in China Academic Journal Abstract, China Journal Network, China Academic Journal (optical disc edition), Wanfang digital journal Group, China Core Journal (Selection) Database, etc