基于能量的倒立摆摆动控制

Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251) Pub Date : 1999-06-02 DOI:10.1109/ACC.1999.786297

K. Yoshida

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引用次数: 106

摘要

可以根据枢轴加速度值的符号来控制枢轴可以水平移动的摆的机械能。提出了一种考虑轴的有限行程控制轴加速度的伺服设计方法。将该控制律应用于倒立摆的起摆控制问题。

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Swing-up control of an inverted pendulum by energy-based methods

The mechanical energy of a pendulum whose pivot can move horizontally can be controlled according to signs of the pivot acceleration values. A servo design technique is proposed which can control the pivot acceleration considering a limited travel of the pivot. This control law is applied to the swing-up control problem for an inverted pendulum.

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Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)

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