机构地区: 中南大学信息科学与工程学院
出 处: 《控制理论与应用》 2006年第3期463-466,共4页
摘 要: 设计控制律使惯性盘倒立摆的部分变量全局渐近稳定,部分变量全局渐近稳定到不变流形.设计方法为李雅普诺夫前推方法,稳定性分析则依据部分变量全局渐近稳定性判据.仿真验证了理论分析. For an inertia wheel pendulum, a control law is designed to ensure that partial states of an inertia wheel pendulum are globally asymptotically stable, whereas other states are globally asymptotically convergent to an invariant manifold. Firstly, the control law is obtained by using Lyapunov forwarding technique. The stability analysis is then completed by invoking the stability criteria with respect to partial variables. Finally, simulation results are given to approve the theoretical analysis.
领 域: [自动化与计算机技术] [自动化与计算机技术]