Stabilization of the inverted pendulum around its homoclinic orbit

被引：145

作者：

Lozano, R

Fantoni, I

Block, DJ

机构：

[1] Univ Technol Compiegne, Heudiasyc Ctr Rech Royallieu, UMR 6599, CNRS, F-60205 Compiegne, France

[2] Univ Illinois, Coll Engn, Urbana, IL 61801 USA

来源：

SYSTEMS & CONTROL LETTERS | 2000年 / 40卷 / 03期

关键词：

nonlinear systems; passivity; inverted pendulum; Lyapunov functions;

D O I：

10.1016/S0167-6911(00)00025-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The inverted pendulum has been used as a benchmark for motivating the study of nonlinear control techniques. We propose a simple controller for balancing the inverted pendulum and raise it to its upper equilibrium position while the cart displacement is brought to zero. The control strategy is based on an energy approach of the cart and pendulum system. (C) 2000 Published by Elsevier Science B.V. All rights reserved.

引用

页码：197 / 204

页数：8

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