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]
惯性轮倒立摆的鲁棒镇定
Robust stabilization of the inertia wheel pendulum
摘要点击 2286  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).
作者单位E-mail
叶华文 中南大学 信息科学与工程学院, 长沙 湖南 410083 yehuawen2001@yahoo.com.cn 
吴 敏 中南大学 信息科学与工程学院, 长沙 湖南 410083  
佘锦华 中南大学 信息科学与工程学院, 长沙 湖南 410083
School of Bionics, Tokyo University of Technology, Tokyo, 192-0982, Japan 		 
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.