Stabilization and Tracking Control of X-Z Inverted Pendulum Based on PID Controllers

被引：0
|
作者：
Wang Jia-Jun [1 ]
机构：
[1] Hangzhou Dianzi Univ, Sch Automat, Hangzhou 310018, Zhejiang, Peoples R China
来源：
2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年
关键词：
inverted pendulum; stabilization; tracking control; PID controller; ADAPTIVE FUZZY CONTROL; SWING-UP; DESIGN; SYSTEM;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we give a x-z inverted pendulum driven via the combination of the horizontal and vertical control forces. The x-z inverted pendulum can move in the horizontal and vertical space. Stabilization and tracking control of this type inverted pendulum is given with PID controllers. Control performance of the x-z inverted pendulum is compared with that of the customary inverted pendulum. Simulation results show that the x-z inverted pendulum not only can realize more fast and accurate stabilization and tracking control, but also have more flexibility than the customary inverted pendulum.
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页码：4202 / 4207
页数：6
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