On global properties of passivity based control of the inverted pendulum
On global properties of passivity based control of the inverted pendulum
复制标题
倒立摆无源控制的全局性质
DOI：
10.1109/cdc.1999.831305
复制
发表时间：
1999
期刊：
影响因子：
--
通讯作者：
A. Pogromsky
中科院分区：
文献类型：
--
作者：
A. Shiriaev;H. Ludvigsen;O. Egeland;A. Pogromsky
考虑了小车上倒立摆的稳定性问题。所提出的技术基于倒立摆的无源性并反映了其全局特性。新的反馈调节器提供了闭环系统的任何解决方案，除了位于某些二维流形上的初始条件外，都将位于小车零位移的不稳定平衡的任何邻域内。
The problem of stabilization of the inverted pendulum on a cart is considered. The proposed technique is based on the passivity of the inverted pendulum and reflects its global properties. The new feedback regulators provide that any solution of the closed loop system, except for initial conditions lying on some 2-dimensional manifold, will be in any neighbourhood of the unstable equilibrium with zero displacement of the cart.