| 引用本文: | 陈 谋, 姜长生, 吴庆宪.基于非线性控制方法的倒立摆系统控制[J].控制理论与应用,2004,21(5):684~688.[点击复制] |
| CHEN Mou, JIANG Chang-sheng, WU Qing-xian.Inverted pendulum system control based on nonlinear control method[J].Control Theory and Technology,2004,21(5):684~688.[点击复制] |
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| 基于非线性控制方法的倒立摆系统控制 |
| Inverted pendulum system control based on nonlinear control method |
| 摘要点击 2192 全文点击 1538 投稿时间：2004-04-30 |
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| DOI编号 10.7641/j.issn.1000-8152.2004.5.004 |
| 2004,21(5):684-688 |
| 中文关键词 倒立摆系统 非线性控制 滑模控制 神经网络 |
| 英文关键词 inverted pendulum system nonlinear control sli |
| 基金项目 国家自然科学基金资助项目(60174045). |
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| 中文摘要 |
| 应用非线性系统跟踪控制方法对倒立摆系统的控制进行研究.基于非线性系统控制方法对倒立摆系统摆的镇定问题、台车位置调节问题和鲁棒控制问题设计出了具体的控制器.最后给出了在所设计的各种控制器作用下系统的仿真结果,结果表明所设计的控制器对倒立摆系统的稳定控制具有良好的效果. |
| 英文摘要 |
| The stable control of the inverted pendulum system is studied with the nonlinear tracking control method.The controllers were designed to perform the stable control of the pendulum,the regulation of the cart,and the robust control of the inverted pendulum system based on nonlinear tracking control method.Finally,the simulation results were given to (demonstrate) the feasibility of the designed controllers. |