摘要
以直轨二级倒立摆 (DIP)系统为例分析了一类非线性欠激励系统动力学 ,提出了一种基于动态变量优化算法和该类系统的控制策略。仿真结果显示了该算法对该类非线性欠激励系统控制的有效性 ,并且该算法具有较快的收敛速度和较高的计算精度。
In this paper,a control strategy of nonlinear system is based on dynamic variables optimization,after analyzing system dynamics of the double inverted pendulum (DIP) on a cart and control strategy.The simulation results show the effectiveness of the proposed algorithm for the nonlinear underactuated system such as DIP.While the convergence speed of the supposed algorithm is quicker and the computing accuracy is higher.
出处
《煤矿机械》
北大核心
2004年第1期30-32,共3页
Coal Mine Machinery
关键词
非线性欠激励机械系统
二级倒立摆
动态变量优化
nonlinear underactuated system
double inverted pendulum
dynamic variables optimization
