H‡ Control of a Parallel Inverted Pendulum System*
H‡ Control of a Parallel Inverted Pendulum System*
复制标题
H‡ 平行倒立摆系统的控制*
DOI：
10.5687/iscie.6.543
复制
发表时间：
1993
期刊：
影响因子：
--
通讯作者：
M. Okada
中科院分区：
文献类型：
--
作者：
T. Sugie;M. Okada
* 通过实验验证各种控制设计方法的有效性很重要。为此，首先，本文提出了一种新型的实验用的并联倒立摆系统，其可控性可以很容易地改变。其次，我们从鲁棒稳定性和可控性的角度分析了系统特性如何依赖于其物理参数。第三，基于H∞回路成形设计方法，设计了系统的二自由度控制器。最后，我们通过实验来评估控制器的有效性，包括与LQ最优控制方法的比较。
** ** It is important to verify the effectiveness of various control design methods by experiment. For this purpose, first, this paper proposes a new type of parallel inverted pendulum system for experimental use, whose controllability can be easily changed. Second, we analyze how the system characteristics depends on its physical parameters from the viewpoint of robust stability and controllability. Third, a two-degree-offreedom controller is designed for the system based on the H‡ loop shaping design procedure. Finally, we evaluate the effectiveness of the controller by experiments, which includes the comparison with LQ optimal control method.