摘要
对二级倒立摆系统的稳定和鲁棒控制问题,采用极点配置方法设计了滑模变结构控制器。针对变结构控制器的抖振,提出了一种新型的变趋近律方法来改进控制器。仿真实验表明,该控制策略不仅能实现系统的稳定控制,而且具有较强的抗干扰能力和鲁棒性。
Using the pole-placement method, a variable structure controller was designed for the stabilization and robust control of the double inverted pendulum. In order to reduce the chattering of the controller, a new approach of variable reaching law for the sliding mode control was proposed. The simulation shows that, this control scheme can stabilize the pendulum. Also the capability of disturbance restraining and robustness of the system were rather strong.
出处
《青岛科技大学学报（自然科学版）》
CAS
2009年第4期365-368,共4页
Journal of Qingdao University of Science and Technology:Natural Science Edition
关键词
滑模控制
倒立摆
抖振
sliding mode control inverted pendulum system chattering
