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| 惯性轮倒立摆的鲁棒镇定 | |
| 引用本文： | 叶华文,吴 敏,佘锦华. 惯性轮倒立摆的鲁棒镇定[J]. 控制理论与应用, 2008, 25(5): 947-950 |
| 作者姓名： | 叶华文 吴 敏 佘锦华 |
| 作者单位： | 1. 中南大学,信息科学与工程学院,长沙,湖南,410083 2. 中南大学,信息科学与工程学院,长沙,湖南,410083;School of Bionics,Tokyo University of Technology,Tokyo,192-0982,Japan |
| 摘 要： | 用一个时滞状态反馈控制律镇定惯性轮倒立摆,不仅保证闭环系统全局渐近稳定,还允许闭环系统承受一定的时滞.将惯性轮倒立摆转化为存在高阶非线性的4维积分器链,然后设计一个明确规定了饱和度和时滞参数的饱和控制律.用简单方式证明了闭环的全局渐近稳定性.仿真表明设计是有效的. |
| 关 键 词： | 非线性控制 镇定 饱和控制 惯性轮倒立摆 时滞状态反馈 |
| 收稿时间： | 2007-03-07 |
| 修稿时间： | 2007-07-16 |
Robust stabilization of the inertia wheel pendulum |
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| YE Hua-wen,WU Min and SHE Jin-hua. Robust stabilization of the inertia wheel pendulum[J]. Control Theory & Applications, 2008, 25(5): 947-950 | |
| Authors: | YE Hua-wen WU Min SHE Jin-hua |
| Affiliation: | School of Information Science and Engineering, Central South University, Changsha Hunan 410083, China;School of Information Science and Engineering, Central South University, Changsha Hunan 410083, China;School of Information Science and Engineering, Central South University, Changsha Hunan 410083, China; School of Bionics, Tokyo University of Technology, Tokyo 192-0982, Japan |
| Abstract: | A delayed state feedback law is presented to stabilize the inertia wheel pendulum, which guarantees the closed-loop system to be globally asymptotically stable in the presence of time delays. The inertia wheel pendulum is transformed into a 4-dimensional chain of integrators with higher order nonlinearity, and a saturated control law is provided with saturation level and time delay explicitly specified. The globally asymptotic stability of the closed-loop system is also proven in a simple way. Finally, simulation results show that the proposed controller is effective. |
| Keywords: | nonlinear control stabilization saturated control inertia wheel pendulum delayed state feedback |
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