双倒立摆反馈线性化的不稳定性

IEEE 1991 International Conference on Systems Engineering Pub Date : 1900-01-01 DOI:10.1109/ICSYSE.1991.161087

G. Walker, N. Salem, M. Varghese, A. Fuchs, R. Mukundan

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引用次数: 1

摘要

给出了双摆系统反馈线性化的数值结果。当线性化控制输入的分母足够小时，闭环系统向量场中的奇异性表现为数值不稳定性。在一个实际的例子中，例如沿平衡流形平衡一个双连杆机械臂，提出了一种使系统摆脱病态控制律的方法。

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Instabilities in the feedback linearization of a double inverted pendulum

Numerical results in the feedback linearization of a double pendulum system are presented. Singularities in the vector field of the closed-loop system manifest themselves as numerical instabilities when the denominator of the linearizing control input is sufficiently small. In a practical example, such as balancing a two-link manipulator along an equilibrium manifold, a method to steer the system away from an ill-conditioned control law is suggested.<>

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IEEE 1991 International Conference on Systems Engineering

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