应用泛函分析学报2008，Vol.10Issue(3)：234-237,4.
基于滑模方法的倒立摆台车系统的非线性控制
Nonlinear Control of an Inverted Pendulum System Based on Sliding-Mode Method
摘要
Abstract
This paper addresses control system design for an inverted pendulum system. The system states are divided into two parts and a kind of two-layer sliding surface is constructed, then a nonlinear controller based on sliding-mode method is given and further the parameters of the controller are designed. Moreover, the stability of all sliding surfaces is proved by using Lyapunov method and the system can track the given trajectories.关键词
倒立摆台车系统/滑模控制/渐近跟踪Key words
inverted pendulum/sliding-mode control/trajectory tracking分类
数理科学引用本文复制引用
贾诺,王辉..基于滑模方法的倒立摆台车系统的非线性控制[J].应用泛函分析学报,2008,10(3):234-237,4.基金项目
Nature Science Funds of Heilongjiang Province(TA2005-19) （TA2005-19）
Science Research Funds of Harbin Normal University(KM2006-12) （KM2006-12）
