倒立摆起重机模式控制的迭代学习控制实验结果

2009 7th International Symposium on Intelligent Systems and Informatics Pub Date : 2009-10-23 DOI:10.1109/SISY.2009.5291138

R. Precup, C. Gavriluță, M. Radac, S. Preitl, C. Dragos, J. Tar, E. Petriu

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引用次数: 5

摘要

本文研究了两种迭代学习控制(ILC)结构在起重机模式下倒立摆系统位置控制中的应用。这两种控制系统结构是基于串行和并行ILC，结合传统的带有PI控制器的反馈控制系统结构。在实验结果的基础上，对ILC算法的参数设置提出了建议。

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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Iterative Learning Control experimental results for inverted pendulum crane mode control

The paper deals with the application of two Iterative Learning Control (ILC) structures to the position control of the inverted pendulum system in crane mode. The two control system structures are based on serial and parallel ILC in combination with the conventional feedback control system structures with PI controllers. Recommendations to set the parameters of the ILC algorithms are given on the basis of experimental results.

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来源期刊

2009 7th International Symposium on Intelligent Systems and Informatics

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