The Research on Human Simulating Intelligent Control of the Inverted Pendulum Based on Feedback Linearization

摘要：

　　In this paper,the partial feedback linearization was made for the non-linear model of the triple inverted pendulum,by means of the differential geometry.Then the simulation and analysis of tracking control and interference control were made,which combined with the human simulating intelligent control and LQR control in the system.The results show that the human simulating intelligent control can achieve better control results than the LQR control,it not only can effectively improve the stability of the system,but also the anti-interference ability is better than LQR control,it meets the control requirements of the triple inverted pendulum.

关键词： the triple inverted pendulum feedback linearization human simulating intelligent control simulation

作者: Ling Zhang Shizhong Hu

作者单位: College of Electric and Communication Engineering, Shannxi University of Science and Technology, Xian, Shannxi Province, China

会议类型: 国际会议

会议名称: 2nd International Conference on Polymer Composities and Polymer Testing (2013第二届高分子复合材料与高分子测试国际会议暨先进工业技术与方案国际会议)(ISPCPT2013)

会议地点: 太原

会议语种:英文

页码: 345-348

在线出版日期: 2013-03-22（万方平台首次上网日期，不代表论文的发表时间）