旋转倒立摆的开关控制

2022 26th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2022-10-19 DOI:10.1109/ICSTCC55426.2022.9931817

Boglárka Sütö, Z. Lendek

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引用次数: 0

摘要

本文研究了旋转倒立摆的起摆与镇定问题。我们设计了切换控制器，并分析了使用更多的控制器是否可以提高性能。我们优化了控制增益和开关点。所有控制器都在旋转倒立摆上进行了实验测试。我们的结果表明，拥有大量的切换控制器并不一定会导致性能的提高。

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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Switching control of a rotary inverted pendulum

In this paper we consider the problem of swinging-up and stabilization of a rotary inverted pendulum. We design switching controllers and analyse whether the performance can be improved using more controllers. We optimize both the control gains and the switching points. All the controllers are tested experimentally on a rotary inverted pendulum. Our results indicate that having a large number of switching controllers does not necessarily lead to a performance increase.

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2022 26th International Conference on System Theory, Control and Computing (ICSTCC)

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