倒立摆系统的混合控制器

2005 5th International Conference on Information Communications & Signal Processing Pub Date : 2005-12-06 DOI:10.1109/ICICS.2005.1689094

S. Nundrakwang, T. Benjanarasuth, J. Ngamwiwit, N. Komine

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引用次数: 24

摘要

提出了一种用于上摆倒立摆系统的混合控制器。控制器由两部分组成。第一部分是PD位置控制，通过前后移动推车将钟摆从自然悬挂位置向上摆动，直到钟摆在直立位置上下摆动。第二部分是由LQR设计的伺服状态反馈控制，该控制通过切换使倒立摆稳定在其直立位置。实验结果表明，所提出的混合控制器用于倒立摆小车上摆的有效性和可靠性

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Hybrid Controller for Swinging up Inverted Pendulum System

A hybrid controller for swinging up inverted pendulum system is proposed in this paper. The controller composes of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position by moving the cart back and forth until the pendulum swings up around the upright position. The second part is a servo state feedback control designed by LQR which will be switched to stabilize the inverted pendulum in its upright position. The effectiveness and reliability of the proposed hybrid controller for swinging up inverted pendulum on cart are also shown by the experimental results

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2005 5th International Conference on Information Communications & Signal Processing

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