The bang-bang-adjust control algorithm and simulation during the swing-up process of circular rail inverted pendulum

摘要

In this paper, the principles of homogeneous coordinate and analytical mechanics are used to build the equations of the dynamics differential equation of Circular Rail Inverted Pendulum. The Bang-Bang-Adjust Control Algorithm is put forward, and by applying control torque reasonably, the computer control during the swing-up process of Circular Rail Inverted Pendulum has been realized. The computer simulation of the swing-up process of Inverted Pendulum is also provided. The results indicated that the dynamics model and the control method are effective and feasible.