基于摹矩阵的倒立摆摆起的最优控制  

Optimal Control of Swing up of an Inverted Pendulum Based on Modi-matrix

作　　者：彭恒[1] 刘白雁[1] 李秋敏[1] 李明[1] 

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081

出　　处：《控制工程》2008年第S1期151-154,共4页Control Engineering of China

摘　　要：在倒立摆小车轨道较短的条件下实现倒立摆快速稳定的摆起,是摆起控制的难点。利用摹矩阵的多阶段决策寻优方法,将倒立摆的摆起控制表示为一个求最短时间的多阶段决策问题。采用VC与Matlab混合编程,实现了用摹矩阵方法寻找单级倒立摆摆起控制的最优路径与最优决策。通过对一轨道长度受限的单级倒立摆的仿真控制和实时控制,证明了该方法的可行性。Fast and stable swinging up at the situation of a shot track is the difficulty of swing-up control.Using the multi-stage decision optimization method of the modi-matrix,the swing-up control of the inverted pendulum is expressed for a problem of multi-stage decision of minimum time.Through mixed programming of Visual C++ and Matlab,the optimal path and optimal decision of swing-up control to the single inverted pendulum are realized by means of the method of modi-matrix.The results of simulation control and ...

关 键 词：倒立摆 摆起 多阶段决策 摹矩阵 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]