Study on Swing up control Algorithm and Simulation about circular rail double Inverted pendulum under limited torque
Swing up control question about circular rail double Inverted pendulum is studied. To known swing up time, divide them into time intervals. Make controlled quantity in each time interval as design variables and end-points related with controlled quantities as objective function. Limit condition of controlled quantities is formed into objective function. And a optimization question about determining controlled quantity is established. Control law of circular rail double Inverted pendulum is computed and simulated. Validity and feasibility are showed. The foundation is proposed for the control of non-linear system.
open-loop control law optimization method circular rail double Inverted pendulum limited torque swing up control
Xianglin Hou Cong Chen Haifeng Yu
School of Science, Shenyang Jianzhu University, Shenyang 110168
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
855-860
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）