Nonlinear Control of an Inverted Pendulum on a Cart by a Single Control Law

被引：3

作者：

Ozbey, Aydin ^{[1
]}

Uzal, Erol ^{[2
]}

Yildiz, Huseyin ^{[3
]}

机构：

[1] Istanbul Univ, Vocat Sch Tech Sci, Dept Airplane Technol, TR-34320 Istanbul, Turkey

[2] Istanbul Univ, Fac Engn, Dept Mech Engn, TR-34320 Istanbul, Turkey

[3] Istanbul Univ, Vocat Sch Tech Sci, Dept Machinery, IR-34320 Istanbul, Turkey

来源：

INTELLIGENT MATERIALS AND MECHATRONICS | 2014年 / 464卷

关键词：

Inverted pendulum; Control of nonlinear systems; Underactuated systems; Feedback linearization; STABILIZATION; SYSTEM;

D O I：

10.4028/www.scientific.net/AMM.464.279

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Stabilization at the top vertical position of an inverted pendulum on a cart, while bringing the cart to a desired position, by applying a force to the cart is considered. This is an underactuated mechanical system for which the main nonlinear control scheme, feedback linearization, fails. A single control law producing the force on the cart using cart velocity, and position and velocity of the pendulum is developed and shown, by numerical experiments, to asymptotically stabilize the pendulum at the top position while bringing the cart to its origin, although no attemp is made for a proof of global stability.

引用

页码：279 / +

页数：2

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