Swinging up a pendulum by energy control

被引：552

作者：

Åström, KJ

Furuta, K

机构：

[1] Lund Inst Technol, Dept Automat Control, S-22100 Lund, Sweden

[2] Tokyo Inst Technol, Dept Control & Syst Engn, Tokyo, Japan

来源：

AUTOMATICA | 2000年 / 36卷 / 02期

基金：

瑞典研究理事会;

关键词：

inverted pendulum; swing-up; energy control; minimum time control;

D O I：

10.1016/S0005-1098(99)00140-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Properties of simple strategies for swinging up an inverted pendulum are discussed. It is shown that the behavior critically depends on the ratio of the maximum acceleration of the pivot to the acceleration of gravity. A comparison of energy-based strategies with minimum time strategy gives interesting insights into the robustness of minimum time solutions. (C) 1999 Elsevier Science Ltd. All rights reserved.

引用

页码：287 / 295

页数：9

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