车轨长度受限的并行双摆能量控制

采用牛顿-欧拉方法建立并行二级倒立双摆系统的数学模型.针对车轨长度受限的并行二级倒立摆系统,本文提出了一种基于能量控制思想和直接李雅普诺夫函数方法的摆起控制策略.所设计的控制器保证了小车的速度收敛到零和摆杆在达到垂直向上的位置时摆杆的能量为零.同时,它能实现对并行双摆的稳摆控制.控制器简单易行,参数调节方便.在并行二级倒立摆摆起控制器设计的基础上,简述了三级车摆的摆起控制器设计过程.最后,通过计算机仿真验证了控制方法在工作效率和抗干扰方面能保持良好的控制性能.     

倒立摆系统的自摆起和稳定控制

为了实现一级倒立摆系统自摆起和稳定控制，该文采用了最优控制与PID控制相结合的控制方法。首先，采用Bang—Bang控制理论设计开环时间最优控制器，实现倒立摆的平稳快速摆起，同时设计经典PID控制器控制小车位置；然后采取线性二次型最优控制理论设计LQR控制器，将倒立摆稳定在平衡位置。计算机仿真和倒立摆系统实时仿真表明，文中提出的控制策略和控制算法得到了很好的验证，取得了满意的效果。     

倒立摆的一种模糊控制方法

提出一种模糊控制方案,实现对倒立摆系统的平衡控制.针对倒立摆系统多变量的特性,采用双模糊控制器方案,分别对摆杆倾角和小车位移设计模糊控制器,大大降低了设计难度;为了实现对摆角和位移双重控制的功能,采用两个控制器轮流控制的策略,当摆角偏差或角速度值较大时,摆角控制器起作用,保持摆杆的垂直,反之,位移控制器起作用,调整小车位置不越界.在实际的物理设备上进行了实时控制实验,实验结果验证了方案的正确性和有效性.     

小车单摆系统仿人智能控制与参数优化仿真

基于动觉智能图式的仿人智能控制理论设计小车单摆系统的控制器,包括：建立拉格朗日动力学模型, 规约简化控制问题,划分控制阶段,设计子控制器并组成总控制器．基于Simulink 构建仿真模型,将各控制阶段用 Matlab 程序实现后,与仿真模型相结合进行摆起和稳定控制的仿真研究．基于二进制和浮点数两种编码方式的遗传 算法对小车单摆控制器参数进行优化,寻求最优控制参数．     

二级倒立摆摆起控制的研究

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．     

二级倒立摆DU2UD的非线性控制研究

二级倒立摆的两根摆杆有4个平衡点：Down Down、Down Up、Up Down、Up Up。针对旋转二级倒立摆从Down Up平衡态转换到Up Down平衡态的大范围非线性欠驱动控制问题(DU2UD),应用基于动觉智能图式的仿人智能控制理论,将DU2UD控制任务分解为初始扰动、摆起控制、姿态整定、稳摆控制4个子任务,并设计出各自关联图式、运动图式(控制器),构成多控制器与多控制模态的仿人智能控制器结构,并进行了实时控制实验,验证了所述方法的有效性。     

基于Lyapunov能量函数的倒立摆稳定控制

倒立摆是一种复杂的非线性控制系统.通过对其进行控制能够检验控制器的鲁棒性.基于一个能量形式的Lyapunov函数设计了倒立摆稳定控制器使得摆趋于上平衡位置,并且使得小车位移和角度都收敛于零.该控制策略基于系统的总能量,利用其耗散特性设计了Lyapunov函数,并证明了控制系统的稳定性.理论分析及仿真试验表明该控制器对于倒立摆控制具有很强的鲁棒性.     

基于能量控制与近似输出调节的二级倒立摆起摆和跟踪控制

二级倒立摆是一个典型的欠驱动非线性系统,其控制问题具有一定的挑战性.为了解决时变参考信号下二级倒立摆的起摆和跟踪控制问题,本文提出了一种基于能量控制与近似输出调节方法的起摆和三阶控制器设计方案.首先,采用能量控制方法将第1级摆杆从下垂位置摆起到倒立位置附近;其次,采用滑模控制方法将第1级摆杆稳定在倒立位置,同时,采用等效小车与能量控制相结合的方法将第2级摆杆摆起到倒立位置附近;最后,采用基于近似输出调节理论的多项式近似方法设计三阶控制器实现二级倒立摆的位置跟踪控制.仿真和实验结果均验证了该控制方案的有效性.     

单神经元PID倒立摆系统

为解决双PD倒立摆控制器参数不可调的难题,利用单神经元PID控制算法简单、权值可调的特点,针对倒立摆系统,设计出基于小车位移和摆杆摆角两个回路的单神经元PID控制器。通过仿真实验研究,证明了该控制方案的可行性和有效性。最后,将该控制方案与目前常使用的双PD控制及LQR控制进行了比较。     

三级倒立摆的自动摆起与稳定控制

采用非线性逆系统轨迹控制实现三级倒立摆的自动摆起,并设计了变增益LQR控制器将其稳定在竖直倒立位置.首先,三级倒立摆从静止下垂状态摆起到竖直倒立位置的过程,从数学角度看是一个两点边值问题,通过求解该两点边值问题获得摆起的标称轨迹,利用逆系统方法设计前馈控制,同时结合增益调度反馈控制使摆起过程稳定;其次,在稳定控制阶段,...     

Stability of Nonlinear Systems Using Optimal Fuzzy Controllers and Its Simulation by Java Programming

In this paper, at first, the single input rule modules (SIRMs) dynamically connected fuzzy inference model is used to stabilize a double inverted pendulum system. Then, a multi-objective particle swarm optimization (MOPSO) is implemented to optimize the fuzzy controller parameters in order to decrease the distance error of the cart and summation of the angle errors of the pendulums, simultaneously. The feasibility and efficiency of the proposed Pareto front is assessed in comparison with results reported in literature and obtained from other algorithms. Finally, the Java programming with applets is utilized to simulate the stability of the nonlinear system and explain the internet-based control.      

平行二级倒立摆的稳定控制

将单一输入规则群动态加权模糊推理模型应用于平行二级倒立摆系统，设计出具有6个输入交量的模糊稳定控制器。该模糊控制器规则总数少，直观性强。计算机仿真表明，该模糊控制器能在短时间内同时实现两摆角度及小车位置的控制。     

Stabilization control of series-type double inverted pendulum systems using the SIRMs dynamically connected fuzzy inference model

A new fuzzy controller for stabilizing series-type double inverted pendulum systems is proposed based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference model. The controller deals with six input items. Each input item is provided with a SIRM and a dynamic importance degree (DID). The SIRM and the DID are set up such that the angular control of the upper pendulum takes the highest priority order over the angular control of the lower pendulum and the position control of the cart when the relative angle of the upper pendulum is big. By using the SIRMs and the DIDs, the control priority orders are automatically adjusted according to control situations. Simulation results show that the controller stabilizes series-type double inverted pendulum systems of different parameter values in about 10.0 s for a wide range of the initial angles.     

倒立摆的双闭环模糊控制

对倒立摆采用双闭环的模糊控制方案，内环控制倒立摆的角度，外环控制倒立摆的位置，两个模糊控制器的设计都很简单，执行时间很短。在实际倒立摆装置上的实验结果验证了该方案的可行性和良好的控制性能。     

倒立摆系统的变结构控制方案

对单级倒立摆系统的稳定和鲁棒控制问题,提出了一种基于李雅普诺夫直接法的变结构控制方案,理论分析和计算机模拟都表明该控制方案不仅能镇定倒立摆,实现对台车的位移控制,而且当系统参数变化时也实现了对该系统的鲁棒控制.     

Editing and Synthesizing Two‐Character Motions using a Coupled Inverted Pendulum Model

This study aims to develop a controller for use in the online simulation of two interacting characters. This controller is capable of generalizing two sets of interaction motions of the two characters based on the relationships between the characters. The controller can exhibit similar motions to a captured human motion while reacting in a natural way to the opponent character in real time. To achieve this, we propose a new type of physical model called a coupled inverted pendulum on carts that comprises two inverted pendulum on a cart models, one for each individual, which are coupled by a relationship model. The proposed framework is divided into two steps: motion analysis and motion synthesis. Motion analysis is an offline preprocessing step, which optimizes the control parameters to move the proposed model along a motion capture trajectory of two interacting humans. The optimization procedure generates a coupled pendulum trajectory which represents the relationship between two characters for each frame, and is used as a reference in the synthesis step. In the motion synthesis step, a new coupled pendulum trajectory is planned reflecting the effects of the physical interaction, and the captured reference motions are edited based on the planned trajectory produced by the coupled pendulum trajectory generator. To validate the proposed framework, we used a motion capture data set showing two people performing kickboxing. The proposed controller is able to generalize the behaviors of two humans to different situations such as different speeds and turning speeds in a realistic way in real time.     

A new controller for the inverted pendulum on a cart

This paper presents a complete solution to the problem of swinging‐up and stabilization of the inverted pendulum on a cart, with a single control law. The resulting law has two parts: first, an energy‐shaping law is able to swing and maintain the pendulum up. Then, the second part introduces additional control to stop the cart and it is based on forwarding control with bounded input. The resulting control law is the sum of both parts and does not commute between different laws although there exist switches inside the controller. Copyright © 2008 John Wiley & Sons, Ltd.