Energy-based design of elastic joints for inverted pendulum systems with input saturation
Energy-based design of elastic joints for inverted pendulum systems with input saturation
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DOI：
10.1109/med.2019.8798558
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发表时间：
2019-07
期刊：
影响因子：
--
通讯作者：
Enrico Franco
中科院分区：
文献类型：
--
作者：
Enrico Franco
本文研究了输入饱和欠驱动倒立摆系统的平衡控制。为此，将基于势能成形原理的弹性关节设计与能量成形控制相结合。最后，对惯性轮摆和Acrobot系统这两个经典实例进行了分析设计。仿真研究证明了该方法在减少控制工作量的同时保持暂态性能的有效性。
This work investigates the balancing control of underactuated inverted pendulum systems with input saturation. To this end, the design of elastic joints according to potential-energy shaping principles is combined with energy-shaping control. As a result, analytical design guidelines are synthesized and implemented for two classical examples: the inertia-wheel pendulum and the Acrobot system. A simulation study demonstrates the effectiveness of the proposed approach in reducing control effort while preserving transient performance.