摘要
倒立摆是自动控制理论研究的典型实验设备,由于其具有强非线性与强耦合性,一直是先进控制算法研究的热点。文章采用了一种微分几何方法——李理论,对倒立摆系统进行精确反馈线性化,此种线性化方法使模型更多地保留了原系统主要的非线性部分,更能逼近实际系统。在此线性化模型的基础上,对倒立摆系统进行最优稳定控制设计。仿真结果表明,所提出的精确反馈线性化方法对于倒立摆系统的控制器设计是有效的。
The inverted pendulum is typical experimental equipment in the automatic control field, and it is a hot issue in the advanced control algorithm research for its high nonlinearity and strong coupling. The inverted pendulum system is linearized for its precise feedback based on a differential geo- metric approach--the Lie theory. The linearization algorithm reserves main nonlinear items of the o- riginal system so that it can describe the actual system more exactly. Moreover, the optimal eontroller is designed to stabilize the system based on the linearized model. The simulation results show that the precise feedback linearization method is effective in designing the controller.
出处
《合肥工业大学学报（自然科学版）》
CAS
CSCD
北大核心
2009年第4期500-502,507,共4页
Journal of Hefei University of Technology：Natural Science
关键词
倒立摆
微分几何理论
精确线性化
最优控制
inverted pendulum
differential geometric theory
precise linearization
optimal control
