期刊
JOURNAL OF VIBRATION AND CONTROL
卷 27, 期 3-4, 页码 415-425出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/1077546320929143
关键词
Inverted pendulum; gyroscope; state-feedback control; physical constraint
资金
- Ministry of Research, Technology and Higher Education, Indonesia, under PDUPT Research Grant
- Kementerian Riset Teknologi Dan Pendidikan Tinggi Republik Indonesia [5/E1/KP.PTNBH/2019]
In this study, a control strategy using a control moment gyroscope as an actuator is proposed to stabilize the inverted pendulum at the upright unstable equilibrium point while maintaining the gimbal angle as small as possible. The effectiveness of the proposed state-feedback control strategy is evaluated through simulation for both linear and nonlinear cases. It is shown that the controller effectively stabilizes the inverted pendulum.
In this study, a control moment gyroscope is used as an actuator to stabilize the inverted pendulum. A control strategy is proposed to stabilize the inverted pendulum at the upright unstable equilibrium point and to maintain the gimbal angle as small as possible. Such a problem is formulated as a constrained H-infinity disturbance attenuation problem and then transformed into solving linear matrix inequalities. The performance of the proposed controller is evaluated through simulation for linear and nonlinear cases. It is shown that the proposed state-feedback control strategy effectively stabilizes the inverted pendulum.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据