【摘要】 通过对二级倒立摆系统的理论分析,研究二级摆从自然悬垂位置摆到倒立点位置的摆起控制问题,提出了基于动态设计变量优化算法的复杂非线性系统控制策略.仿真实验证明,该策略可成功地实现圆轨和直轨两种二级倒立摆的摆起控制,并且算法具有较快的收敛速度和较高的计算精度.更多还原

【Abstract】 Through the analysis of the relevant theories on double inverted pendulum and the study on swing-up (control) of a double pendulum from hanging to the upright position, a sophisticated nonlinear system control strategy based on dynamic design variable optimization is presented. Simulation experiments show that the strategy (successfully) realizes the swing-up control over both rotational and car-pole double inverted pendulums with higher convergence speed and computation accuracy.更多还原