引用本文:叶华文,戴冠中,康剑灵.惯性盘倒立摆的部分变量镇定[J].控制理论与应用,2006,23(3):463~466.[点击复制]
YE Hua-wen,DAI Guan-zhong,KANG Jian-ling.Partial variable stabilization of an inertia wheel pendulum[J].Control Theory and Technology,2006,23(3):463~466.[点击复制]
惯性盘倒立摆的部分变量镇定
Partial variable stabilization of an inertia wheel pendulum
摘要点击 1506  全文点击 923  投稿时间：2004-10-26  修订日期：2005-09-16
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DOI编号  10.7641/j.issn.1000-8152.2006.3.026
  2006,23(3):463-466
中文关键词  镇定  部分变量稳定  倒立摆
英文关键词  stabilization  stability with respect to partial states  inverted pendulum
基金项目  
作者单位
叶华文,戴冠中,康剑灵 中南大学信息与工程学院,湖南长沙410083
西北工业大学自动化学院,陕西西安710072
东华大学应用数学系,上海200051 
中文摘要
      设计控制律使惯性盘倒立摆的部分变量全局渐近稳定,部分变量全局渐近稳定到不变流形.设计方法为李雅普诺夫前推方法,稳定性分析则依据部分变量全局渐近稳定性判据.仿真验证了理论分析.
英文摘要
      For an inertia wheel pendulum,a control law is designed to ensure that partial states of an inertia wheel pendulum are globally asymptotically stable,whereas other states are globally asymptotically convergent to an invariant manifold.Firstly,the control law is obtained by using Lyapunov forwarding technique.The stability analysis is then completed by invoking the stability criteria with respect to partial variables.Finally,simulation results are given to approve the theoretical analysis.