{"title":"倒立摆的整体镇定性早期的解决方案和硬件实现","authors":"J. L. Baumann, C.D. Johnson","doi":"10.1109/SSST.2004.1295703","DOIUrl":null,"url":null,"abstract":"The problem of globally stabilizing an inverted-pendulum with arbitrary initial conditions and with the pivot mounted on a movable platform constrained to move in horizontal motion and controlled by a servomotor is considered. A novel solution involving a dual-mode optimal control-law consisting of a bang-bang, time-optimal mode and a smooth linear mode is developed. The results are verified in a full, non-linear simulation as well as implemented in an actual hardware model. These results appear in a Master's Thesis written in 1971 and apparently predate similar results reported in the literature.","PeriodicalId":309617,"journal":{"name":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","volume":"16 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Global-stabilization of the inverted-pendulum; an early solution and hardware implementation\",\"authors\":\"J. L. Baumann, C.D. Johnson\",\"doi\":\"10.1109/SSST.2004.1295703\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The problem of globally stabilizing an inverted-pendulum with arbitrary initial conditions and with the pivot mounted on a movable platform constrained to move in horizontal motion and controlled by a servomotor is considered. A novel solution involving a dual-mode optimal control-law consisting of a bang-bang, time-optimal mode and a smooth linear mode is developed. The results are verified in a full, non-linear simulation as well as implemented in an actual hardware model. These results appear in a Master's Thesis written in 1971 and apparently predate similar results reported in the literature.\",\"PeriodicalId\":309617,\"journal\":{\"name\":\"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the\",\"volume\":\"16 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2004-09-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/SSST.2004.1295703\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Thirty-Sixth Southeastern Symposium on System Theory, 2004. Proceedings of the","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SSST.2004.1295703","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Global-stabilization of the inverted-pendulum; an early solution and hardware implementation
The problem of globally stabilizing an inverted-pendulum with arbitrary initial conditions and with the pivot mounted on a movable platform constrained to move in horizontal motion and controlled by a servomotor is considered. A novel solution involving a dual-mode optimal control-law consisting of a bang-bang, time-optimal mode and a smooth linear mode is developed. The results are verified in a full, non-linear simulation as well as implemented in an actual hardware model. These results appear in a Master's Thesis written in 1971 and apparently predate similar results reported in the literature.
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