基于切换方法的倒立摆起振和平衡控制

采用切换控制的方法实现环型倒立摆的起振和平衡控制。通过设计非线性前馈控制器实现倒立摆的起振控制,当环型倒立摆达到非稳定平衡点附近的时候,切换到线性状态反馈控制器实现倒立摆的镇定控制。改变线性状态反馈控制器的输入还可以实现环型倒立摆的旋转平衡控制。仿真验证了控制策略的有效性。

Swing-up and Balance Control of Inverted Pendulum Based on Switching Method

In this paper, a switching control method is used to achieve the swing-up and balance control of furuta pendulum. Firstly, the swing-up control of the furuta pendulum is achieved by applying a nonlinear feedforward controller. Another controller implements the switch between the nonlinear feedforward control and a linear feedback control,which is designed to accomplish the local balance control around the unstable equilibrium position as well as the rotary balance control with the help of changing the desired input. Finally, the results of simulations demonstrate the effectiveness of the control strategy.