Управление колебаниями системы маятник-тележка с приводом методом скоростного биградиента

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Я.А. Долгов, А.А. Зюзин, А.В. Финошин, Ю.И. Мышляев
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Swing-up control of the cart-pole system with drive motor
by velocity bi-gradient method
© Ya.A. Dolgov, A.A. Zuzin, A.V. Finoshin, Yu.I. Myshlyaev
Kaluga Branch of Bauman Moscow State Technical University, Kaluga, 248000, Russia
The article considers the problem of swing-up control of the cart-pole with drive motor.
A cart-pole is a mechanical system consisting of a pendulum attached to a cart that rolls
freely on a flat surface. The velocity bi-gradient method is chosen to design the control
algorithmic synthesis. As the control system consists of two subsystems and the control
objective depends only on the output subsystem phase variables there is a good reason to
consider the first and the third stages of the velocity bi-gradient method. Control of me-
chanical subsystem is based on the energy approach with partial feedback linearization
and energy shaping. Energy approach has proved to be useful in the task of stabilizing
the unstable equilibrium position of the pendulum systems and swing-up control. The
design procedure and simulation results confirming the achievement of the specified con-
trol objective are presented.
Keywords: partial feedback linearization, energy shaping, velocity bi-gradient method
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