Inverted Pendulum System Control by Using Modified Iterative Learning Control

被引：0
|
作者：
Gao, Hongxia [1 ]
Lu, Yun
Mai, Qian [1 ]
Hu, Yueming [1 ]
机构：
[1] South China Univ Technol, Coll Automat, Minist Educ, Engn Res Ctr Precis Elect Mfg Equipments, Guangzhou, Guangdong, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, PROCEEDINGS | 2009年 / 5928卷
基金：
中国国家自然科学基金;
关键词：
Iterative Learning Control; Inverted Pendulum System;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The inverted pendulum is a typical multi-variable and non-linear system. It is hard to improve its performance because of modeling difficulty, parametric uncertainties during actual system operation. Iterative Learning Control (ILC) can achieve perfect tracking or performance when there is model uncertainty or when we have a "blind" system. This paper proposed a modified iterative learning control method to improve the dynamics of the car with an inverted pendulum. Experiment results demonstrated that the proposed method can improve the dynamic performance of the car with an inverted pendulum.
引用
收藏
页码：1230 / +
页数：3
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