会议专题

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

The 13th IEEE Joint International Computer Science and Information Technology Conference(2011年第13届IEEE联合国际计算机科学与信息技术会议 JICSIT 2011)

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)