%0 Journal Article
%T Robust stabilization of the inertia wheel pendulum<br>惯性轮倒立摆的鲁棒镇定
%A YE Hua-wen
%A WU Min
%A SHE Jin-hua
%A <br>叶华文
%A 吴 敏
%A 佘锦华
%J 控制理论与应用
%D 2008
%I 
%X A delayed state feedback law is presented to stabilize the inertia wheel pendulum, which guarantees the closed-loop system to be globally asymptotically stable in the presence of time delays. The inertia wheel pendulum is transformed into a 4-dimensional chain of integrators with higher order nonlinearity, and a saturated control law is provided with saturation level and time delay explicitly specified. The globally asymptotic stability of the closed-loop system is also proven in a simple way. Finally, simulation results show that the proposed controller is effective.
%K nonlinear control
%K stabilization
%K saturated control
%K inertia wheel pendulum
%K delayed state feedback<br>非线性控制
%K 镇定
%K 饱和控制
%K 惯性轮倒立摆
%K 时滞状态反馈
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=956B0B5772E0612D05DA0F6D886C4ECB&yid=67289AFF6305E306&vid=C5154311167311FE&iid=94C357A881DFC066&sid=3005465426CC5B70&eid=114891522AE71A91&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=9