【摘要】 研究圆轨单级倒立摆摆起控制问题 ,以离散控制律为设计变量 ,以终点约束条件为目标函数 ,提出了倒立摆摆起控制律的优化算法。对控制律进行编程计算 ,成功地实现了圆轨单级倒立摆的快速摆起。仿真计算结果表明了所提出方法的有效性和可行性。更多还原

【Abstract】 The swing up control problem of a single inverted pendulum on an circular rail is discussed. A new optimization is presented by making discrete control law as the design variables and taking terminal constraint condition as the objective function respectively. The new method is used to the circular rail single inverted pendulum. And the pendulum swing up is realized by programming and computing the control law. The results show the effectiveness and feasibility of the studied method.更多还原