期刊
ASIAN JOURNAL OF CONTROL
卷 25, 期 4, 页码 2564-2576出版社
WILEY
DOI: 10.1002/asjc.2978
关键词
discrete-time systems; mechatronics systems; robust control; robust filtering
The natural instability and nonlinear dynamics of an inverted pendulum make it an ideal tool for reproducing behaviors of similar systems. This paper addresses the main issues of pendulum stabilization, tracking, and swing-up control, and demonstrates how robust recursive control and filtering techniques can enhance system performance.
The natural instability of an inverted pendulum and its dynamics richness, in terms of nonlinearity, provide a nice apparatus to reproduce behaviors of analogous systems. In this way, it is useful to perform benchmark tests for new control approaches developed. In this paper, we address the main inverted pendulum problems: pendulum stabilization, tracking, and catching swing-up control. We show how robust recursive, control and filtering, techniques improve the system performance. They are developed to solve stochastic problems based on deterministic approaches, in order to decrease the worst influence of uncertainties. Experimental results of the proposed robust approach provide robust stability and performance despite parametric uncertainties, disturbances, and noise effects.
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