摘要
通过对二级倒立摆系统的理论分析,研究二级摆从自然悬垂位置摆到倒立点位置的摆起控制问题,提出了基于动态设计变量优化算法的复杂非线性系统控制策略.仿真实验证明,该策略可成功地实现圆轨和直轨两种二级倒立摆的摆起控制,并且算法具有较快的收敛速度和较高的计算精度.
Through the analysis of the relevant theories on double inverted pendulum and the study on swing-up control of a double pendulum from hanging to the upright position, a sophisticated nonlinear system control strategy based on dynamic design variable optimization is presented. Simulation experiments show that the strategy successfully realizes the swing-up control over both rotational and car-pole double inverted pendulums with higher convergence speed and computation accuracy.
出处
《控制与决策》
EI
CSCD
北大核心
2004年第10期1183-1186,共4页
Control and Decision
基金
国家863计划基金资助项目(2001AA422270).
关键词
二级倒立摆
摆起控制
动态设计变量优化
Computer simulation
Mechanical variables control
Nonlinear systems
Optimization
