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旋转二级倒立摆摆起倒立混合控制

Yuanhong DAN,Peng XU,Zhi TAN,Zushu LI

World Sci-tech R & D（2015）

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Abstract
参考仿人智能控制思想,提出一种混合控制策略,实现了旋转二级倒立摆摆起倒立控制.将旋转二级倒立摆的摆起倒立稳定过程分为能量累积、姿态调整以及稳定控制三个阶段.基于无源系统理论的分析方法设计出摆杆的能量累积策略,以动力学分析方法设计出摆杆的姿态调整策略,以局部线性化方法进行摆杆的倒立稳定控制.仿真和实时实验结果证明了算法的有效性.
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Key words
rotary double inverted pendulum,human simulated intelligent control,swing-up and handstand control,passive system
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