【摘要】 对一维倒立摆系统的稳定和起摆进行了深入研究。通过Lie理论对系统进行坐标和输入量的变换 ,实现了系统的局部线性化 ,使得倒立摆系统的稳定控制不再需要对数学模型中的非线性项取近似值。同时采用能量反馈的方法进行倒立摆的起摆控制。仿真和实验结果表明本文提出的方法对倒立摆的稳定控制及起摆控制具有很好的效果更多还原

【Abstract】 In this paper, we studied swing-up and stabilization problems for an inverted pendulum. An effective control method of stabilizing an inverted pendulum system without resorting to any approximation of each nonlinear term appearing in mathematical models is presented. The key idea was to derive a partially linearized system using the coordinate change and input transformation via the Lie theoretic approach. On the other hand, we proposed a nonlinear state feedback control law to regulate the swinging energy of the pendulum system.更多还原