Stabilize the Planar Inverted Pendulum System Using a Way of Self-Correction and Human-Simulating Coordination
Tang Yong-chua · Journal of Southwest University · 2013
Taking into consideration the characteristics of strong coupling and multi-variables of the planar inverted pendulum system,and based on its physical characteristics,a rod nine-point controller and a cart nine-point controller are designed for the X-axis and the Y-axis,respectively.Then,based on the priority of the rod to the cart,a self-correction and human-simulating coordinate control stategy is put forward.In this way,the multi-variables are coordinated well without coupling and,finally,the whole system realizes its stabilization.The designed control strategy simulates human intelligence and refelects the process of human's understanding the characteristics of physical objects and therefore is a new control strategy to express human's control experience and logic.A robustness experiment verifies the effectiveness and rubustness of the control strategy.