摘要
对倾斜导轨上两级倒立摆的控制问题进行研究，要求设计出的控制器不仅能使摆杆在垂直方向保持稳定，而且能控制小车在导轨上的位置．该问题可简化为极小化某闭环传递函数的Ｈ∞范数，并利用标准Ｈ∞方法进行求解．仿真结果表明。
The control problem of a double inverted pendulum on an inclined rail is studied.The controller to be designed not only should stabilize the pendulum at the upright position but also can control its cart position on the rail.This problem can be simplified to the minimization of the H ∞ norm of a closed loop transfer function,and be solved by the standard H ∞ control method.The simulation results show that the designed controller works satisfactorily.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
1997年第3期45-48,56,共5页
Journal of Shanghai Jiaotong University
基金
博士后科学基金
关键词
倒立摆
H∞控制
稳定控制
位置控制
控制论
导轨
double inverted pendulum
H ∞ control
stabilization control
position control
