数字技术与应用Issue(11)：20-22,3.
基于扩张状态观测器的直线倒立摆状态反馈控制研究
摘要
Abstract
Aim at the linear inverted pendulum control problem, a linearization mathematical model is established by using Lagrange method. In order to improve the control precision, the uncertain external disturbance and unmodel ed dynamics are regarded as one integrated disturbance. Using extended states observer(ESO),a new observer is proposed to observe the states and the integrated disturbance, a state feedback stabilization control er of linear inverted pendulum based on ESO is designed. The inverted pendulum swing up to stability can realize by energy feedback method and bang-bang control. The experiments show that the system can effectively restrain the outside interference, has strong robustness.关键词
倒立摆/扩张状态观测器/反馈控制/鲁棒性Key words
Inverted pendulum/Extended state observer(ESO)/Feedback control/Robustness分类
信息技术与安全科学引用本文复制引用
陈陆曦,张瑞成..基于扩张状态观测器的直线倒立摆状态反馈控制研究[J].数字技术与应用,2014,(11):20-22,3.基金项目
河北省自然科学基金资助项目(F2014209192) （F2014209192）
河北省教育厅重点资助项目(ZD20131011) （ZD20131011）
河北联合大学杰出青年基金资助项目JP201301)。 （）
