修正Hamilton方法及其在车载倒立摆稳定化问题上的应用(英文)

The Modified Hamiltonian Method and its Application in the Stabilization of the Inverted Pendulum on a Cart

本文基于反馈控制和带有控制的Hamilton系统的修正Hamilton函数,研究了车载倒立摆系统的稳定化问题.给出了利用修正Hamilton方法稳定化带有控制的Hamilton系统的一个准则.通过复杂的计算,证明了车载倒立摆系统的不稳定平衡态可以通过增加反馈控制的方式成为渐近稳定的平衡态.利用仿真验证了所给控制的有效性.

Based on the feedback control and modified Hamiltonian for the Hamiltonian system with control,the stabilization of the inverted pendulum on a cart system is explored in this paper.A criterion of stabilization of a Hamiltonian system with control is given by the modified Hamiltonian method.By a complicated calculation,the unstable equilibrium of the inverted pendulum on a cart system can be proved to achieve asymptotically stability by adding feedback control.A simulation is presented to show the efficiency of the designed feedback control law.