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基于非线性分级控制思想,研究了逼近逆模型的设计方法,并结合变结构趋近控制律规则,将基于综合误差方法的滑动模逼近控制应用在某单级倒立摆上,通过仿真分析,收到了良好的控制效果。
Based on the idea of nonlinear hierarchical control, the design method of approximation inverse model is studied, and the sliding mode approaching control based on the integrated error method is applied to a single inverted pendulum combined with variable structure approach control law. Through simulation analysis, To a good control effect.