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事件触发控制在倒立摆系统中的仿真与实验

于灏 欧阳利 郝飞

于灏, 欧阳利, 郝飞等 . 事件触发控制在倒立摆系统中的仿真与实验[J]. 北京航空航天大学学报, 2016, 42(10): 2107-2117. doi: 10.13700/j.bh.1001-5965.2015.0631
引用本文: 于灏, 欧阳利, 郝飞等 . 事件触发控制在倒立摆系统中的仿真与实验[J]. 北京航空航天大学学报, 2016, 42(10): 2107-2117. doi: 10.13700/j.bh.1001-5965.2015.0631
YU Hao, OUYANG Li, HAO Feiet al. Simulation and experiment of event-triggered control for inverted pendulum system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(10): 2107-2117. doi: 10.13700/j.bh.1001-5965.2015.0631(in Chinese)
Citation: YU Hao, OUYANG Li, HAO Feiet al. Simulation and experiment of event-triggered control for inverted pendulum system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(10): 2107-2117. doi: 10.13700/j.bh.1001-5965.2015.0631(in Chinese)

事件触发控制在倒立摆系统中的仿真与实验

doi: 10.13700/j.bh.1001-5965.2015.0631
基金项目: 国家自然科学基金(61573036,61174057);北京市自然科学基金(4112034);中央高校基本科研业务费专项资金
详细信息
    作者简介:

    于灏,男,博士研究生。主要研究方向:事件触发控制,混杂系统。E-mail:yuhao1010@126.com;郝飞,男,博士,教授,博士生导师。主要研究方向:网络化控制,事件触发控制,鲁棒控制。Tel.:010-82314517,E-mail:fhao@buaa.edu.cn

    通讯作者:

    郝飞,Tel.:010-82314517,E-mail:fhao@buaa.edu.cn

  • 中图分类号: TP273

Simulation and experiment of event-triggered control for inverted pendulum system

Funds: National Natural Science Foundation of China (61573036,61174057); Beijing Municipal Natural Science Foundation (4112034); the Fundamental Research Funds for the Central Universities
  • 摘要: 从理论、仿真、实验3个角度考虑了事件触发控制对于一级直线倒立摆系统的控制效果,进而说明事件触发控制的可行性与实用性。首先,借助线性矩阵不等式给出了事件条件参数的设计方法,并对触发时间间隔下界进行了估计。其次,通过Simulink仿真说明了在无量化效应时理论结果的有效性。最后,通过实验研究了量化效应的影响,发现其对于基于模型控制器的负面作用。实验结果表明,对于实际倒立摆系统,混合型事件条件及零阶保持控制器更加适用,它们可以在保证系统稳定性的前提下有效降低信息的通信频率。上述结果体现了事件触发控制的潜在实用价值。

     

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出版历程
  • 收稿日期:  2015-09-24
  • 网络出版日期:  2016-10-20

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