%0 Journal Article
%T The swing-up and stabilization of the triple inverted pendulum<br>三级倒立摆的自动摆起与稳定控制
%A ZHANG Yong-li
%A CHENG Hui-feng
%A LI Hong-xing
%A <br>张永立
%A 程会锋
%A 李洪兴
%J 控制理论与应用
%D 2011
%I 
%X The swing-up of the triple inverted pendulum is achieved by inversion-based trajectory control. The variablegain linear quadratic regulator is designed to stabilize the triple inverted pendulum in the upward position. The transient process of swing-up of the triple inverted pendulum is treated as a nonlinear two-point boundary value problem. The normal trajectories of swing-up are obtained by solving a two-point boundary value problem, and a feedforward control is designed by using the inverse system method. A gain-scheduled feedback is used to stabilize the system during the swing-up. In addition, the triple inverted pendulum in the upward position is stabilized by utilizing the variable-gain linear quadratic regulator. Simulation results demonstrate the effectiveness of the proposed control scheme.
%K triple inverted pendulum
%K inversion-based feedforward control
%K two-point boundary value problem
%K feedback control based on gain-scheduled
%K variable-gain linear quadratic regulator(VGLQR)<br>三级倒立摆
%K 逆系统前馈控制
%K 两点边值问题
%K 增益调度反馈控制
%K 变增益LQR
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=6E8F0A0B5E344F83211CC5CA59ED88ED&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=CA4FD0336C81A37A&sid=42425781F0B1C26E&eid=94E7F66E6C42FA23&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=20