| Design and implementation of 2DOF spherical inverted pendulum |
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| 作者姓名： | Cong Shuang & Zhang Dongjun |
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| 作者单位： | Cong Shuang & Zhang DongjunDepartment of Automation，University of Science & Technology of China，Hefei 230027，P. R. China;Department of EEE，Hong Kong University of Science and Technology，Hong Kong 00852，P.R. China |
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| 基金项目： | ThisprojectwassupportedbytheNationalNaturalScienceFoundationofChina(50375148) |
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| 摘 要： | 1.INTRODUCTION Theinvertedpendulumsystemisaclassicalbench markfortheeducationandresearchintheautomation andmechanicalengineeringfield.Manyeducatorsfo cusontheinvertedpendulumcontrolsystembecause theexperimentsexhibittheadvantageandvalidityof moderncontroltheoryveryintuitively.Researchers alsohopetoverifynewalgorithmsonthesystem. Thebasicobjectiveoftheinverted pendulumsystem iskeepingthebalanceofthependulumatthe‘invert ed’status1～3].Wehavecomparedtheperformance ofthreemoderncontrolm…
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Design and implementation of 2DOF spherical inverted pendulum |
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| Cong Shuang & Zhang Dongjun.Design and implementation of 2DOF spherical inverted pendulum[J].Journal of Systems Engineering and Electronics,2005,16(1). |
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| Authors: | CONG Shuang Zhang Dongjun |
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| Institution: | 1. Department of Automation, University of Science & Technology of China, Hefei 230027, P. R. China
2. Department of EEE, Hong Kong University of Science and Technology, Hong Kong 00852, P.R. China |
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| Abstract: | The dynamics of 2DOF spherical inverted pendulum system is analyzed. The motion of the pendulum may be projected onto the orthogonal planes in the Cartesian Space. In this way the system can be decoupled into two classical cart-pendulum systems and the design of controllers aimed at each subsystem separately are proposed. The linear quadratic optimal control strategy is applied in order to balance the pendulum system at the 'inverted' status. The method proposed is verified by the simulation and actual system experiments and the performance of the controller is discussed. |
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| Keywords: | DOF spherical inverted pendulum nonlinear system optimal control LQY |
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