| 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.[点击复制] |
| YE Hua-wen,WU Min,SHE Jin-hua.Robust stabilization of the inertia wheel pendulum[J].Control Theory and Technology,2008,25(5):947~950.[点击复制] |
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| 惯性轮倒立摆的鲁棒镇定 |
| Robust stabilization of the inertia wheel pendulum |
| 摘要点击 2288 全文点击 1483 投稿时间：2007-03-07 修订日期：2007-07-16 |
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| DOI编号 10.7641/j.issn.1000-8152.2008.5.031 |
| 2008,25(5):947-950 |
| 中文关键词 非线性控制 镇定 饱和控制 惯性轮倒立摆 时滞状态反馈 |
| 英文关键词 nonlinear control stabilization saturated control inertia wheel pendulum delayed state feedback |
| 基金项目 国家自然科学基金资助项目(60874008). |
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| 中文摘要 |
| 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. |
| 英文摘要 |
| 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. |
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