| 基于快速起摆的Furuta摆切换控制系统 |
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| 引用本文： | 高丙团,张晓华,陈宏钧.基于快速起摆的Furuta摆切换控制系统[J].控制与决策,2008,23(11). |
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| 作者姓名： | 高丙团 张晓华 陈宏钧 |
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| 作者单位： | 1. 东南大学,电气工程学院,南京,210096
2. 哈尔滨工业大学,电气工程学院,哈尔滨,150001 |
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| 摘 要： | 针对由一个驱动臂和一个未驱动摆杆组成的欠驱动Furuta摆系统,设计了实现其稳定的切换控制系统.控制任务是将未驱动摆杆稳定在上方不稳定平衡点的同时,将驱动臂控制到零点,分为两部分:首先基于部分反馈线性化技术设计一个饱和的状态反馈控制器,将摆杆快速控制到上方不稳定平衡点附近;然后切换到一个线性的全状态反馈控制器,实现系统的稳定控制.仿真实验验证了控制器的有效性.
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| 关 键 词： | Furuta摆 切换控制 欠驱动 起摆 部分反馈线性化 |
Switching control of Furuta pendulum system with aggressive swing-up |
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| GAO Bing-tuan,ZHANG Xiao-hua,CHEN Hong-jun.Switching control of Furuta pendulum system with aggressive swing-up[J].Control and Decision,2008,23(11). |
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| Authors: | GAO Bing-tuan ZHANG Xiao-hua CHEN Hong-jun |
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| Affiliation: | GAO Bing-tuan1,ZHANG Xiao-hua2,CHEN Hong-jun2(1.School of Electrical Engineering,Southeast University,Nanjing 210096,China,2.Department of Electrical Engineering,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | A switching control scheme is presented for an underactuated Furuta pendulum system,which consists of an actuated arm and an unactuated pendulum.The control task is to bring the pendulum to the upper unstable equilibrium position with converging the arm displacement to zero.It is separated into two parts,aggressive swing-up the pole from the under plane into the uppe plane and stabilizing the pendulum to its upper unstable equilibrium point with regulating the arm displacement.Based on partial feedback line... |
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| Keywords: | Furuta pendulum Switching control Underactuated Swing-up Partial feedback linearization |
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