Swing-up a Spherical Inverted Pendulum by Energy Control
作者单位：Beijing University of Posts and Telecommunications China Coal Research Institute
会议名称：《第43届中国控制会议》
会议日期：1000年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程]
基 金：supported by National Natural Science Foundation (NNSF) of China under Grant 52075046 52205016
关 键 词：Spherical Inverted Pendulum Underactuated System Automatic Swing-up Energy Control
摘 要：This paper derives a nonlinear system model of a spherical inverted pendulum(SIP).Based on the basic principles of conservation of energy and potential energy maximization,the motion law of the internal swing of a pendulum driven spherical robot was revealed,and the conditions and behavioral characteristics of single swing-up and multiple swing-up of a spherical inverted pendulum were *** have implemented the simulation control instantiation of automatic swing up of spherical inverted *** simulation analysis,it is shown that the strategy of automatically swing-up a spherical inverted pendulum through the principles of conservation of energy and potential energy maximization is effective.