摘要
研究一级直线型倒立摆的起摆、镇定与跟踪问题.采用基于Lyapunov能量反馈方法和基于精确线性化与LQR(linear quadratic regulator)算法结合的方法设计控制器,提出分阶段起摆的控制思想,并将这两种控制器有效地联系起来,最后对控制器的跟踪性能作了讨论.仿真结果与上机实验表明了方法的有效性和优越性.
The swing-up, stabilization and tracking problem of the single linear inverted-pen dulum is studied. The controller is designed based on the Lyapunov energy feedback approach and the combination of exact linearization and the LQR approach. A control idea of step-by-step swing-up, which is united effectively, is proposed. The tracking performance of the controller is discussed finally. The simulation and the experiment verify the validity and superiority of the approach proposed in this paper.
出处
《汕头大学学报（自然科学版）》
2007年第2期28-32,37,共6页
Journal of Shantou University：Natural Science Edition
关键词
倒立摆
起摆
精确线性化
位置跟踪
inverted-pendulum
swing-up
exact linearization
position tracking
