VSS-version of energy-based control for swinging up a pendulum

被引：48

作者：

Shiriaev, AS

Egeland, O

Ludvigsen, H

Fradkov, AL

机构：

[1] Univ So Denmark, Maersk McKinney Moller Inst Prod Technol, DK-5230 Odense, Denmark

[2] Norwegian Univ Sci & Technol, Dept Engn Cybernet, N-7491 Trondheim, Norway

[3] Inst Problems Mech Engn, St Petersburg 199178, Russia

来源：

SYSTEMS & CONTROL LETTERS | 2001年 / 44卷 / 01期

基金：

俄罗斯基础研究基金会;

关键词：

pendulum; energy stabilization;

D O I：

10.1016/S0167-6911(01)00124-4

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new algorithm ensuring global attractivity of the upright (unstable) equilibrium of a pendulum, based on the variable structure system-version of the energy-speed-gradient method, is proposed. It is shown that global attractivity cannot be obtained with continuous static state feedback. A detailed global analysis of the transient behavior of the closed loop system is presented. In addition, it is shown that the global attractivity of the upright equilibrium can be achieved by applying a control of arbitrarily small magnitude. (C) 2001 Elsevier Science B.V. All rights reserved.

引用

页码：45 / 56

页数：12

共 21 条

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ANDRIEVSKY BR, 1996, AUTOMAT REM CONTR, V57, P4

[2]

[Anonymous], LNCIS

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