准滑动模态控制在四级倒立摆的应用  

Application of Quasi-sliding Mode Control in Four-stage Inverted Pendulum

作　　者：胡耀各 冯祖仁[1] HU Yao-ge;FENG Zu-ren(State Key Laboratory of Manufacturing Systems Engineering,Xi’ an Jiaotong University,Xi’ an 710049,China;The 28th Research Institute of China Electronics Technology Group Corporation,Nanjing 210007,China)

机构地区：[1]西安交通大学机械制造系统工程国家重点实验室,西安710049 [2]中国电子科技集团公司第二十八研究所,南京210007

出　　处：《火力与指挥控制》2018年第7期104-107,共4页Fire Control & Command Control

摘　　要：提出了一种新的滑动模态控制,对四级倒立摆进行了控制仿真。实验表明所提出来的采用类sigmoid函数的准滑模控制可以有效地完成四级倒立摆的稳定控制,并能够减弱高频抖振。该方法对于高阶倒立摆的控制实践具有一定的理论指导价值。A new sliding mode control is proposed to control the four-stage inverted pendulum in this paper. The experimental results show that the quasi-sliding mode control using the sigmoid function can effectively complete the stability control of the high-order inverted pendulum and reduce the high frequency buffeting. The method has certain theoretical guidance value for the control of high order inverted pendulum.

关 键 词：四级倒立摆 切换函数 趋近律 准滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]