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赵军

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期刊论文

Hybrid control for global stabilization of the cart}pendulum system☆

赵军Jun Zhao a* Mark W. Spong b

Automatica 37 (2001) 1941-1951,-0001,():

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摘要/描述

A globally stabilizing controller for the cart}pendulum system is designed in this paper. The design procedure consists of three parts. First, find a neighborhood of the origin in which a locally stabilizing controller can be used. Second, construct a linear controller for the cart subsystem and steer the position and velocity of the cart to the origin. The last part is to design several classes of bang}bang controllers and a switching strategy which guarantee that the trajectory of the system starting from any initial condition enters, in finite times of switching, the neighborhood where the locally stabilizing controller is e!ective.

版权说明:以下全部内容由赵军上传于   2005年01月28日 21时35分11秒,版权归本人所有。

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