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X-Z倒立摆的一种饱和非线性稳定控制方法的研究

DOI: 10.3724/SP.J.1004.2013.00092, PP. 92-96

Keywords: X-Z倒立摆,平面垂直起降飞行器,稳定,非最小相位,欠驱动

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Abstract:

?X-Z倒立摆不仅具有普通倒立摆的最小相位和欠驱动特性,同时具有更多的控制自由度.通过一定的状态变换,发现了X-Z倒立摆与平面垂直起降飞行器模型之间的等价关系.基于该等价关系,借鉴平面垂直起降飞行器的控制方法,把饱和非线性控制方法应用于X-Z倒立摆的稳定控制.通过与PID(Proportionintegrationdifferentiation)控制方法的仿真对比,证明了该稳定控制方法的有效性.

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