摘要
In this paper, we propose an adaptive stabilizer to solve the stability problem of single inverted pendulum system. The stabilizer, which consists of a nested saturation feedback controller and a logic-based online-tuning mechanism, is designed for a class of nonlinear feed-forward systems. The function of the online-tuning mechanism is to adjust the level of saturation in the controller according to the design of switching logic. Moreover, by using coordination transformation, we work out the mathematical model of single inverted pendulum system in the form of a nonlinear feed-forward system, and then move on to the simulation after designing the stabilizer. The simulation results showed that the stabilizer can effectively achieve the stability of single inverted pendulum system.
In this paper, we propose an adaptive stabilizer to solve the stability problem of single inverted pendulum system. The stabilizer, which consists of a nested saturation feedback controller and a logic-based online-tuning mechanism, is designed for a class of nonlinear feed-forward systems. The function of the online-tuning mechanism is to adjust the level of saturation in the controller according to the design of switching logic. Moreover, by using coordination transformation, we work out the mathematical model of single inverted pendulum system in the form of a nonlinear feed-forward system, and then move on to the simulation after designing the stabilizer. The simulation results showed that the stabilizer can effectively achieve the stability of single inverted pendulum system.
引文
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