引用本文:叶华文, 钟守铭, 凌玉华,戴冠中.“小车-单摆”系统镇定设计的一种改进[J].控制理论与应用,2006,23(5):783~786.[点击复制]
YE Hua-wen, ZHONG Shou-ming, DAI Yu-hua, DAI Guan-zhong .Stabilization of the cart-pendulum system: an improved design[J].Control Theory and Technology,2006,23(5):783~786.[点击复制]
“小车-单摆”系统镇定设计的一种改进
Stabilization of the cart-pendulum system: an improved design
摘要点击 1353  全文点击 1222  投稿时间：2004-10-22  修订日期：2005-09-07
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DOI编号  10.7641/j.issn.1000-8152.2006.5.022
  2006,23(5):783-786
中文关键词  镇定  输入状态稳定  倒立摆
英文关键词  stabilization  input-to-state stability  inverted pendulum
基金项目  国家自然科学基金资助项目(60475036)．
作者单位
叶华文, 钟守铭, 凌玉华,戴冠中 中南大学信息与工程学院,湖南长沙410083
电子科技大学应用数学学院,四川成都610054
西北工业大学自动化学院,陕西西安710072 
中文摘要
      为“小车-单摆”系统设计了一个新的镇定控制．考察前人的前推迭代设计,发现先期过程已经使部分子系统输入状态稳定,特别是,该子系统在有关反馈设计后仍然输入状态稳定．因此,在最后迭代时不必构造李雅普诺夫函数,并设计出简单于前人的镇定控制．给出了满意的仿真结果．
英文摘要
      In this note, a new stabilizing control is presented for the cart-pendulum system. A previous design via the forwarding technique is reviewed, and the first two steps are found to result in an input-to-state stable (ISS) subsystem already. Especially, the subsystem remains ISS subject to a certain feedback design. Thus, in the final step, there is no need to construct a Lyapunov function any longer, and a stabilizer can be suggested which is simpler than the existing one. Finally, desirable simulation results are provided.