[现代控制理论]8_LQR控制器_simulink [现代控制理论]7_线性控制器设计_Linear Controller Design [现代控制理论]6_稳定性_李雅普诺夫_Lyapunov [现代控制理论]5_系统的可控性_controllability [现代控制理论]4_PhasePortrait爱情故事动态系统分析 [现代控制理论]3_Phase_portrait 相图 相轨迹 [现代控制理论]2_state-...
滑模控制器(Sliding Mode Controller) 滑模控制是基于Lyapunov稳定性设计的控制器,其定义了一个滑模面s,使得在s=0时,对于所有的x_n = 0均成立,从而将本来不好求解的与x相关的Lyapunov函数转化成了与s相关的Lyapunov函数的求解问题。此时,Lyapunov函数可定义为V = \frac12 s^2。而对于\dot{V} = s\dot{s},...
deep-reinforcement-learningmpclqrlqr-controller UpdatedFeb 16, 2018 Python Simulink implementations of sliding mode and LQR controller for rotary inverted pendulum matlabsimulinkinverted-pendulumsliding-mode-controllqr-controller UpdatedMay 20, 2018
在Simulink中建立直线一级倒立摆的模型如下图所示:图3-4 Simulink中直线一级倒立摆的模型“LQR Controll 41、er”为一封装好的模块,单击鼠标右键,选择“Look under mask”打开其结构如下:图3-5 LQR Controller 内部结构双击“Matrix gain K”即可输入控制参数:图3-6 LQR参数设置框其中双击Linear1Stage模块可以将...
本次倒立摆实时控制是基于固高倒立摆Matlab Simulink实时控制系统上进行的。下面是建立的直线一级倒立摆LQR实时控制模块, 图4-1 一级倒立摆实物控制程序块 其中“LQR Controller”为LQR控制器模块,“Real Control”为实时控制模块,可以将“Real Control”模块打开LQR控制器参数设置窗口,将第三章仿真的结果填入下表,进行实...
with the Googol high-tech Matlab real-time control software experimental platform, LQR controller can be designed and LQR control method can conduct online real-time simulation experiment on straight line, double inverted pendulum Simulink, analyze results of experiment and adjust LQR parameters so as...
And by altering the Parameters of Simulink LQR state space model, the best control result has been achieved. Key words: linear inverted Pendulum; LQR algorithm; control; simulation 目录 1 绪论 1 1.1 研究倒立摆的背景及意义 1 1.1.2 倒立摆的特性 2 1.1.3 倒立摆的控制目标 3 1.1.4 倒立摆的控制...
在Simulink 中建立直线一级倒立摆的模型如下图所示:(进入MATLAB Simulink 实时控制工具箱“Googol Education Products ”打开“Inverted Pendulum\Linear Inverted Pendulum\Linear 1-Stage IP Experiment\ LQR Experiments ” 中的“LQR Control Simulink” ) 图 1-55 直线一级倒立摆LQR 控制仿真模型 “LQR Controller ...
optimal control theory which allows the submarine to perform complex maneuvers. This allows them to supply a target state, which the controller, using the state estimator, converts to percent-of-effort motor commands. They also discuss the benefits of an LQR ov...
LQR controller is proposed as the system state feedback control method, and MPGA is designed to optimize the weight matrix, solving the immature convergence of the SGA to a large extent as well as enhancing the global search ability of GA. The simulation results in Simulink show that the ...