摘要
针对倒立摆系统中的不确定因素进行了研究,并考虑到倒立摆系统模型本身的不确定因素较小可以忽略,而外部的不确定性因素很难预料,因此采用了自适应变结构的控制方法设计控制器,通过调整参数估计的可调增益,估计系统所受不确定性大小。针对扰动的不确定性上界提出了一种改进的自适应滑模变结构控制方法,以直线二级倒立摆为仿真对象设计控制器,并且应用MATLAB进行了仿真,仿真结果证明了这种方法的可行性。
The uncertainties of the inverted pendulum system is studied, and the own uncertainties oftheinverted pendulum model is small that can be ignored, but the external uncertainties are difficult to predict, so use the adaptive variable structure control method to designed controller, by adjusting the adjustable gain parameter estimation, to estimate uncertainty of the size of the system suffered. Against the uncertainty on the sector, an improved adaptive sliding mode control method is put forward, and then a controller with the double inverted pendulum is designed as thesimulation object, then the algorithms with the MATLAB is simulated, the simulation results prove the feasibility of this method.
出处
《计算机工程与设计》
CSCD
北大核心
2009年第13期3219-3221,3227,共4页
Computer Engineering and Design
