頁籤選單縮合
題 名 | A Combined Sliding Mode-Generalized PI Control Scheme for Swinging Up and Balancing the Inertia Wheel Pendulum |
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作 者 | Hernandez,Victor M.; | 書刊名 | Asian Journal of Control |
卷 期 | 5:4 2003.12[民92.12] |
頁 次 | 頁620-625 |
分類號 | 448.942 |
關鍵詞 | Sliding modes; Generalized PI control; Underactuated mechanical systems; |
語 文 | 英文(English) |
英文摘要 | In this note we propose a control strategy which combines sliding modes and generalized PI (GPI) control for the swinging up, and stabilization around its unstable vertical position of the inertia wheel pendulum. Both tasks are achieved using a single controller. The pendulum angular position is assumed to be the only measured output variable. We show that this control scheme is robust with respect to constant torque disturbances. The proposed controller is used in an actual experimental setup. |
本系統中英文摘要資訊取自各篇刊載內容。