非惯性系统稳定的鲁棒控制:摆- acrobot

2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) Pub Date : 2018-09-01 DOI:10.1109/ICEEE.2018.8533880

Daniel I. Arevalo, H. Alazki

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引用次数: 5

摘要

本文提出了一种鲁棒控制策略来实现非惯性摆- acrobot系统的姿态稳定。该系统将通过经典的欧拉-拉格朗日方法和基于super - twist算法的鲁棒控制器设计进行建模，以稳定机器人在非惯性框架下的位置。最后，通过数值仿真对所提出的控制设计方案进行了实现。

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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Robust Control for Stabilization of Non-Inertial System: Pendulum-Acrobot

In this work, a robust control strategy is proposed to achieve attitude stabilization of an non-inertial Pendulum-Acrobot system. Modeling of this system will be presented through the classical Euler-Lagrange method and a robust controller design based on the Super-Twisting algorithm in order to stabilize the acrobot position under a non-inertial framework. Finally, the implementation of the proposed control design scheme is carried out by numerical simulation.

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2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)

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