A Signal Compensation-Based Robust Swing-Up and Balance Control Method for the Pendubot
A Signal Compensation-Based Robust Swing-Up and Balance Control Method for the Pendubot
复制标题
基于信号补偿的Pendubot鲁棒摆动与平衡控制方法
DOI：
10.1109/tie.2021.3065621
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发表时间：
2022-03
影响因子：
7.7
通讯作者：
Y. Chen
中科院分区：
文献类型：
--
作者：
C. Wei;T. Chai;X. Xin;X. Chen;L. Wang;Y. Chen
本文提出了一种新的鲁棒摆起和平衡控制方法，使用数据驱动的补偿信号的Pendubot系统，这是欠驱动和动态摩擦，间隙，和建模的不确定性。该方法涉及三个
This article proposes a novel robust swing-up and balance control method using data-driven compensation signals for the Pendubot system, which is underactuated and subject to dynamic friction, backlash, and modeling uncertainty. The method involves three