Invariance to Unmatched Bounded Disturbances in Inverted Pendulum Stabilization Control

机译：倒立摆稳定控制中无与伦比的有界扰动的不变性。

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The paper considers the stabilization problem of the inverted pendulum on a cart. A DC motor is considered as a control device. The moment of friction is assumed to be unknown, but limited with its derivatives over time. The use of vortex feedback synthesis algorithms allows one to suppress unmatched external disturbances and unknown negative moments of friction forces. The final control action is chosen in the class of discontinuous functions with constant amplitude.

机译：本文考虑了推车上倒立摆的稳定性问题。直流电动机被视为控制装置。假定摩擦力矩未知，但受其随时间的导数的限制。涡流反馈综合算法的使用允许人们抑制无与伦比的外部干扰和未知的摩擦力负力矩。在具有恒定振幅的不连续函数类别中选择最终控制动作。

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《International Conference Complex Systems: Control and Modeling Problems》|2019年|582-585|共4页
会议地点 Samara(RU)
作者
Yury Rassadin;
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Trapeznikov's Institue of Control Sciences RAS Moscow Russia;

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control system synthesis; DC motors; feedback; friction; invariance; nonlinear control systems; pendulums; stability;

机译：控制系统综合直流电动机反馈;摩擦;不变性非线性控制系统；摆稳定性;

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1. Sliding Mode Control with Nonlinear Disturbance Observer based on Genetic Algorithm for Inverted Pendulum with Mismatched Disturbances [J] . Bhawna Tandon, Shiv Narayan, Jagdish Kumar Indian Journal of Science and Technology . 2017,第30期

机译：基于遗传算法的扰动不匹配的倒立摆的非线性扰动观测器滑模控制。
2. A simulation study of non-linear disturbance observer-based sliding mode control for inverted pendulum with mismatched disturbances [J] . Bhawna Tandon, Shiv Narayan, Jagdish Kumar International journal of system control and information processing . 2015,第4期

机译：扰动不匹配的倒立摆基于非线性扰动观测器的滑模控制仿真研究
3. Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing [J] . Naoya Yoshikawa, Yasuyuki Suzuki, Ken Kiyono, Frontiers in Computational Neuroscience . 2016,第1期

机译：间歇性反馈控制策略，用于稳定手控小车上的倒立摆，类似于人棍平衡
4. Invariance to Unmatched Bounded Disturbances in Inverted Pendulum Stabilization Control [C] . Yury Rassadin International Conference Complex Systems: Control and Modeling Problems . 2019

机译：倒置摆稳定控制中无与伦比的有界扰动的不变性
5. Real-time stabilization of a triple-link inverted pendulum using single control input. [D] . Eltohamy, Khaled Gamal. 1997

机译：使用单个控制输入实时稳定三链倒立摆。
6. Intermittent Feedback-Control Strategy for Stabilizing Inverted Pendulum on Manually Controlled Cart as Analogy to Human Stick Balancing [O] . Naoya Yoshikawa, Yasuyuki Suzuki, Ken Kiyono, 2016

机译：间歇性反馈控制策略用于稳定手控小车上的倒立摆类似于人棍平衡
7. Intermittent feedback-control strategy for stabilizing inverted pendulum on manually controlled cart as analogy to human stick balancing [O] . Naoya eYoshikawa, Yasuyuki eSuzuki, Ken eKiyono, 2016

机译：用于稳定手动控制推车上倒立摆的间歇反馈控制策略，类似于人体操纵杆平衡
8. Hybrid Fuzzy Logic Control to Stabilize an Inverted Pendulum from ArbitraryInitial Conditions [R] . deSylva, M. J. 1994

机译：从任意初始条件稳定倒立摆的混合模糊逻辑控制

Invariance to Unmatched Bounded Disturbances in Inverted Pendulum Stabilization Control

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