具有扩展结构的多倒立摆分散关联预设有限时间跟踪控制  

Decentralized connectively prescribed finite-time tracking control for multiple inverted pendulums with expanding structure

作　　者：周丽文 李小华[1] 杨伊 ZHOU Liwen;LI Xiaohua;YANG Yi(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁鞍山114051

出　　处：《安徽大学学报（自然科学版）》2023年第3期56-69,共14页Journal of Anhui University(Natural Science Edition)

基　　金：辽宁省科技厅自然科学基金资助项目(20180550319)。

摘　　要：针对一类随机激励下弹簧连接的双倒立摆系统,研究其结构扩展时的分散关联预设有限时间跟踪控制问题.建立随机激励下具有扩展结构的弹簧连接的多倒立摆系统的数学模型,设计具有扩展结构的弹簧连接的多倒立摆系统的分散关联预设有限时间跟踪控制器.仿真分析结果表明该文设计的控制器具有有效性.The decentralized connectively prescribed finite-time tracking control problem was studied for a class of double inverted pendulum systems connected by springs with stochastic excitation when the structure of the system was expanded.The stochastic mathematical model of the expanded multiple inverted pendulum system connected by springs was established.The decentralized connectively prescribed finite-time tracking controllers of the expanded multiple inverted pendulum system connected by springs was designed.The simulation results verified that the controllers designed in this paper were effective.

关 键 词：多倒立摆系统 扩展结构 随机激励 预设有限时间控制 关联稳定 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]