초록 열기/닫기 버튼
This article develops a nonlinear position-regulation law for linear-motion inverted-pendulum systems, taking into account practical constraints, such as the plant nonlinearities and parameter and load variations. The novelty of this work is twofold. First, a method is developed to transform the plant dynamics into a form compatible with the proposed technique. Second, a control law is constructed systematically using the active-damping-injection and disturbance-observer techniques. Simulation results show significant performance improvements in position-reference tracking and regulation under various operating scenarios.
