Auto-Swing up Control via BVP Arithmetic for the Rotational Inverted Pendulum
The auto-swinging up control by BVP is presented for rotational inverted pendulum. The swing-up control process from hanging to the upright position can be transformed into the two-point boundary value problem (BVP) of nonlinear systems. According to the boundary conditions, the Fourier series control torque function with free parameters is constructed. The BVP is solved with the bvp4c function in Matlab, and the control sequence is obtained. The swing-up process is open-loop feedforward control essentially. In order to inhibition parameters perturbation, the closedloop stabilizing control is designed around the upright position for the inverted double pendulum with unstable zero-dynamics. The simulation of swingup, stabilizing and switching process illustrates the effecthity. of the control strategy.
rotational inverted pendulum BVP swing-up non-minimum-phas
Yu Zhandong Wang Gang
College of Automation Harbin Engineering University Harbin Heilongjiang, China
国际会议
重庆
英文
1080-1084
2011-08-20（万方平台首次上网日期，不代表论文的发表时间）