Global stabilization of unstable equilibrium point of pendulum
Global stabilization of unstable equilibrium point of pendulum
复制标题
摆不稳定平衡点的全局镇定
DOI：
10.1109/cdc.1998.762050
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
H. Ludvigsen
中科院分区：
文献类型：
--
作者：
A. Shiriaev;O. Egeland;H. Ludvigsen
针对倒立摆提出了对弗拉德科夫基于能量的调节器（1996）的修改。所提出的算法确保了上平衡的全局稳定，而在 Fradkov 的方法中仅实现了稳定的局部控制目标。本文特别关注闭环系统瞬态行为的定性分析。
A modification of Fradkov's energy based regulator (1996) is proposed for an inverted pendulum. The presented algorithm ensures global stabilization of the upper equilibrium, while in Fradkov's method only the local control goal of stabilization is achieved. A particular interest in the paper is drawn to qualitative analysis of transient behaviour of the closed loop system.