一种新型控制输入对摆锤摆动的影响

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR) Pub Date : 2012-11-12 DOI:10.1109/MMAR.2012.6347871

Prafa Neetha

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引用次数: 1

摘要

本文提出了一种新的钟摆上摆控制输入。输入来源于所提出的控制哈密顿函数。如此导出的输入能够将连杆1摆动到直立位置，并以+1弧度的附加误差到所需的角度位置。此外，控制输入根据所选参数值将系统设置为不同的平衡流形。仿真结果验证了该方法的有效性。

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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Effect of a novel control input on swing up of a pendubot

This paper proposes a novel control input for swing up of a pendubot. The input is derived from the proposed control Hamiltonian function. The input so derived is capable of swinging link 1 to the upright position with an added error of +1 radians to the desired angular position. Additionally, the control input sets the system to different equilibrium manifolds depending on the selected parameter values. The efficacy of this approach is demonstrated through simulation results.

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来源期刊

2012 17th International Conference on Methods & Models in Automation & Robotics (MMAR)

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