基于控制拉格朗日函数法的车载倒立摆的稳定性

Stabilization of the Inverted Pendulum on a Cart by the Method of Controlled Lagrangian

在自由系统拉格朗日函数基础上,通过更改其中动能函数的度量张量,构造了控制拉格朗日函数.说明了控制拉格朗日函数法在系统稳定性研究中的使用方法和步骤,并运用此方法研究了车载倒立摆的稳定性,得出了相关结论.

A controlled Lagrangian by modifying the metric tensor of Lagrangian for the uncontrolled system is constructed.The methods and steps of using controlled Lagrangian for the research of system stabilization are introduced.Then the stabilization of the inverted pendulum on a cart is studied by this approach.And relevant conclusions are drawn.