旋转倒立摆与实时控制

IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI:10.1109/LARC.2011.6086851

Daniel Ignacio Barbosa, J. Castillo, L. F. Cómbita

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引用次数: 14

摘要

本文介绍了利用MATLAB构建一个实时旋转倒立摆系统，给出了构建所用材料和方法的说明。为了估计系统的不可测参数，采用了基于非线性模型、一组数据和非线性最小二乘算法的方法，实现了基于能量的摆动控制器和LQR稳定化控制器来显示系统的性能。

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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Rotary inverted pendulum with real time control

This investigation presents the construction of a Real-time rotary inverted pendulum system using MATLAB, the description of the materials and methods for the construction are presented. To estimate the non-measurable parameters of the system a method based on the non-linear model, a set of data and a nonlinear least squares algorithm is carried out, the implementation of an energy based swing-up controller and a LQR stabilization controller is used to show the performance of the system.

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IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE

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