基于Bang-Bang控制的倒立摆系统摆起和镇定

Swing up and Stabilization of an Inverted Pendulum based on Bang-Bang Control

针对一级直线型倒立摆对象 ,基于Bang-Bang控制和线性二次型最优状态反馈控制 ,提出了一种基于状态的切换控制策略 ,实现了倒立摆的快速摆起和镇定。最后通过仿真实验表明 。

Based on Bang-Bang controller and optimal state feedback linear quadratic regulator, the strategy of switching control dependent on the state is proposed for the single inverted pendulum system,and the swing-up and stabilization of the inverted pendulum are quickly realized.Finally,the effectiveness of the proposed controller is demonstrated by simulation and comparison studies.