| 张永立,程会锋,李洪兴.逆系统轨迹控制二级倒立摆自动摆起[J].,2011,(6):896-903 |
| 逆系统轨迹控制二级倒立摆自动摆起 |
| Automatic swinging-up of double inverted pendulum by inversion-based trajectory control |
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| DOI：10.7511/dllgxb201106019 |
| 中文关键词: 二级倒立摆 逆系统前馈控制 两点边值问题 变增益 H ∞反馈控制 |
| 英文关键词: double inverted pendulum inversion-based feed-forward control two-point boundary value problem (BVP) variable-gain H ∞ feedback control |
| 基金项目:国家自然科学基金资助项目(61074044,60834004);“八六三”国家高技术研究发展计划资助项目(2006AA04Z163);“九七三”国家重点基础研究发展计划资助项目(2009CB320602,2002CB312200);高等学校博士学科点专项科研基金资助项目(20090041110003). |
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| 中文摘要: |
| 将逆系统轨迹控制应用于二级倒立摆的自动摆起控制系统,离线求解非线性方程两点边值问题,得到系统的参考轨迹;采用逆系统前馈控制和基于 H ∞控制的增益调度反馈控制对参考轨迹进行精确跟踪,实现二级倒立摆的自动摆起; 当两摆杆摆起到竖直倒立位置后,采用变增益 H ∞反馈控制器进行稳定控制．仿真实验结果表明,该方案在较短的摆起时间内实现了二级倒立摆两摆杆的自动摆起,稳定性和鲁棒性明显提高． |
| 英文摘要: |
| Inversion-based trajectory control is applied to swing up a double inverted pendulum. The reference trajectories of swing-up are obtained by solving a nonlinear two-point boundary value problem (BVP) off-line. The inversion-based feed-forward control combined with H ∞ gain-scheduling-based feedback control is used to accurately track the reference trajectories, and the swing-up of a double pendulum is achieved. A variable-gain H ∞ feedback controller is designed to stabilize the double inverted pendulum when the two rods are swung up. Simulation results show that the control scheme can swing up a double inverted pendulum in a short time; and the stability and robustness of the system are improved distinctly. |
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