摘要
本文涉及一种直线倒立摆滑模变结构的稳定控制的算法,该算法包括应用滑模变结构控制理论对直线一级倒立摆的稳定控制的研究,对倒立摆的稳定性和鲁棒性有较好的控制效果。直线倒立摆滑模变结构的稳定控制的算法应用了基于阿克曼公式设计了滑模的切换函数,并且采用比例切换控制规律进行了滑模变结构控制器的设计。
This paper involves a algorithm of sliding mode variable structure the stabilizing control of linear inverted pendulum, and this algorithm includes a study of sliding mode variable structure theory in stabilizing control of inverted pendulum system, having good control effect in stability and robustness of the inverted pendulum. This algorithm of sliding mode variable structure in stabilizing control of linear inverted pendulum uses switching function of sliding mode based on Ackermann ＇ s formula, and the proportion switching control law is used for design of sliding mode variable structure controller.
关键词
滑模变结构
直线一级倒立摆
MATLAB仿真
Sliding mode variable structure
Linear inverted pendulum
MATLAB simulation
