摘要
通过对欠驱动系统构造相对阶等于原非线性系统状态空间维数的光滑函数,得到惯性轮摆的平滑输出函数,将非线性惯性轮摆系统变换为线性系统,并针对此模型设计了相应的变结构控制律来实现惯性轮摆的稳定性控制.通过MATLAB仿真验证了设计控制器的正确性.
The paper indicates that the flat output of the inertia wheel pendulum can be obtained by setting up a smooth output function whose relative degree equals to the dimension of the state space. According to the flat output acquired, the nonlinear system based on the inertia wheel pendulum can be transformed to the linear system. The authors set up a variable structure control rule upon the linear system to realize the stability control for the inertia wheel pendulum. The result of the simulation verifies the correctness of the controller.
出处
《北方工业大学学报》
2010年第1期48-52,共5页
Journal of North China University of Technology
基金
国家自然科学基金(50975004)
北京市属高等学校人才强教计划(PHR200906107)资助项目
关键词
欠驱动系统
惯性轮摆
变结构控制
underactuated system
inertia wheel pendulum
variable structure control