Swinging-up and stabilization of the inverted pendulum by energy well and SDRE control
In this paper, we study the swinging-up and stabilization problem of the single inverted pendulum. The concept of energy well function is introduced in order to restrict the displacement and velocity of the cart, which prevents the cart from going outside the limited length. Stabilization is carried out using the State-Dependent Riccati Equation (SDRE) control. The greatest advantage offered by SDRE is the design.exibility. The proposed scheme has worked well in simulation for the swinging-up and stabilization of the single inverted pendulum.
Inverted pendulum Energy control Potential well SDRE
Cheng Huifeng Li Hongxing Yu Peipei
School of Electronic and Information Engineering, Dalian University of Technology, Dalian 116024
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
2222-2226
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）