능동 댐핑 주입과 외란 관측기 기반 선형 운동 도립진자 비선형 위치 제어

다국어 초록 (Multilingual 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.

참고문헌 (Reference)

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