논문 국내 국제전문학술지(SCI급) Nonlinear position regulator for linear motion inverted pendulum via active damping injection and disturbance observer
- 학술지 구분 국제전문학술지(SCI급)
- 게재년월 2020-07
- 저자명 김동수,김석균,박재경
- 학술지명 Journal of Institute of Control, Robotics and Systems
- 발행처명 Institute of Control, Robotics and Systemsjournal@ijcas.com
- 발행국가 국내
- 논문언어 한국어
- 전체저자수 3
홈페이지논문 초록 (Abstract)
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.