| 平行单级双倒立摆基于滑模的稳定控制 |
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| 引用本文： | 李诚,张明廉.平行单级双倒立摆基于滑模的稳定控制[J].系统仿真学报,2004,16(3):589-592. |
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| 作者姓名： | 李诚 张明廉 |
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| 作者单位： | 北京航空航天大学自动化学院自动控制系,北京,100083 |
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| 基金项目： | 自然科学基金(60074021) |
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| 摘 要： | 平行单级双倒立摆相对单级倒立摆、二级倒立摆而言是非线性更强、耦合作用更复杂的不稳定欠驱动系统,从而控制难度更大。本文针对俩摆间无弹簧的平行单级双倒立摆设计了滑模变结构控制律,仿真结果显示该控制律对外部干扰和内部参数变化都有很强的鲁棒性。
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| 关 键 词： | 平行单级双倒立摆 变结构控制 指数趋近律 欠驱动系统 |
| 文章编号： | 1004-731X(2004)03-0589-04 |
| 修稿时间： | 2003年3月20日 |
Stabilization Control Based on Sliding Mode for Parallel-type Inverted Pendulum |
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| Li Cheng,Zhang Ming-lian.Stabilization Control Based on Sliding Mode for Parallel-type Inverted Pendulum[J].Journal of System Simulation,2004,16(3):589-592. |
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| Authors: | Li Cheng Zhang Ming-lian |
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| Abstract: | Compared to single-, double- inverted pendulum, the parallel-type inverted pendulum is more difficult to be stabilized, for it is an inherent unstable and underactuated mechanical system which has stronger nonlinearity and couplings. It is designed in this paper a sliding mode control law for the parallel-type inverted pendulum, and it is proven through simulation to be robust with regard to external disturbances and internal parameter uncertainty. |
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| Keywords: | parallel-type inverted pendulum variable structure control exponential approach law underactuated system |
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