惯性轮倒立摆的鲁棒镇定

Robust stabilization of the inertia wheel pendulum

用一个时滞状态反馈控制律镇定惯性轮倒立摆,不仅保证闭环系统全局渐近稳定,还允许闭环系统承受一定的时滞.将惯性轮倒立摆转化为存在高阶非线性的4维积分器链,然后设计一个明确规定了饱和度和时滞参数的饱和控制律.用简单方式证明了闭环的全局渐近稳定性.仿真表明设计是有效的.

A delayed state feedback law is presented to stabilize the inertia wheel pendulum, which guarantees the closed-loop system to be globally asymptotically stable in the presence of time delays. The inertia wheel pendulum is transformed into a 4-dimensional chain of integrators with higher order nonlinearity, and a saturated control law is provided with saturation level and time delay explicitly specified. The globally asymptotic stability of the closed-loop system is also proven in a simple way. Finally, simulation results show that the proposed controller is effective.