摘要
针对倒立摆控制问题,改进了Fantoni和Lozano所设计的控制方法,提出一种近似实现控制器无扰切换条件。建立两个切换控制器的控制量等式,在最高点邻域采用Taylor展开方法求解这个非线性方程,得到一个近似无扰切换点集,根据倒立摆的物理模型特点,在这个集合中选择一个切换点,并在它附近取一个区间作为控制器切换的条件。采用倒立摆的位移、平移速度、角度、角速度作为调度变量,根据这些量和切换条件选择控制器参数。仿真结果说明:这种方法基本实现控制器的无扰切换。
An improved method was developed for inverted pendulum control with the ability to provide bumpless switching of the control. An equation was developed to relate the outputs of the two switched controllers. A Taylor series expansion was used to solve this nonlinear equation at the top of the inverted pendulum to provide a set of points for the bumpless switching. The physical structure of the inverted pendulum was used to choose a point from the set to construct a region near this point as the condition to switch the controllers. The distance, velocity, angle, and angular velocity were selected as scheduling variables to select the controller parameters. Simulation results show that the method does provide bumpless switching of the controllers.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2004年第2期266-269,共4页
Journal of Tsinghua University(Science and Technology)
基金
教育部留学回国人员启动基金
清华大学亚洲研究中心青年基金项目
