摘要
针对单级倒立摆,介绍了利用李雅普诺夫函数进行状态反馈的控制方案。首先对单级倒立摆建立近似线性化模型,然后利用李雅普诺夫函数设计了状态反馈控制器,并在MATLAB软件中Simulink环境下对单级倒立摆实验装置实现了实时控制,试验结果验证了该设计方法的有效性。
A control method of state feedback, which is designed based on Lyapunov Function is proposed for inverted pendulum. The linear model is obtained by approximating the nonlinear model for inverted pendulum. The state feedback controller based on Lyapunov Function is designed to stabilize the inverted pendulum. The real-time control is implemented in single inverted pendulum device in Simulink environment of MATLAB software. The results demonstrate the effectiveness of the proposed method.
出处
《新技术新工艺》
2007年第5期50-51,55,共3页
New Technology & New Process
关键词
倒立摆
李雅普诺夫函数
状态反馈
inverted pendulum
lyapunov function
state feedback
