倒立摆无源控制的全局特性研究

Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304) Pub Date : 1999-12-07 DOI:10.1109/CDC.1999.831305

A. Shiriaev, H. Ludvigsen, O. Egeland, A. Pogromsky

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引用次数: 67

摘要

研究了小车上倒立摆的稳定问题。该方法基于倒立摆的无源性，反映了倒立摆的全局特性。新的反馈调节器提供了闭环系统的任何解，除了位于某个二维流形上的初始条件外，将处于小车零位移的不稳定平衡的任何邻域。

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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On global properties of passivity based control of the inverted pendulum

The problem of stabilization of the inverted pendulum on a cart is considered. The proposed technique is based on the passivity of the inverted pendulum and reflects its global properties. The new feedback regulators provide that any solution of the closed loop system, except for initial conditions lying on some 2-dimensional manifold, will be in any neighbourhood of the unstable equilibrium with zero displacement of the cart.

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Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)

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