Optimal regulator for the inverted pendulum via Euler-Lagrange backward integration

被引：18
作者：
Holzhüter, T [1 ]
机构：
[1] Hochschule Angewandte Wissenschaft Hamburg, Fachbereich Elektrotech & Informat, D-20099 Hamburg, Germany
来源：
AUTOMATICA | 2004年 / 40卷 / 09期
关键词：
nonlinear optimal control; Cart-pendulum system; stable manifold; Hamilton-Jacobi equation; Euler-Lagrange equations;
D O I：
10.1016/j.automatica.2004.04.012
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present a time invariant nonlinear controller for the inverted pendulum based on optimal control, which is defined for all pendulum angles. The paper provides a case study in the brute force method of calculating the extremal field by solving the Euler-Lagrange equations backward in time, thus exploring the stable manifold of the Hamiltonian flow. The controller is only given numerically on an interpolation grid. We use this controller for closed loop simulations corroborating considerable gain robustness. (C) 2004 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1613 / 1620
页数：8
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