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Nonlinear Control of an Input-Constrained Inverted Pendulum

  • 정재훈 (고려대학교 전기공학과)
  • 발행 : 2003.11.21

초록

The aim of this paper is to propose a nonlinear controller for a single cart-type inverted pendulum using energy-based control scheme. Using a nonlinear model relating the angular position and velocity to the control input and a nonlinear controller is designed to regulate the angular position and velocity in the presence of input constraints. It is proved that the angular position and velocity converge to zero.

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