crobot系统基于分段实时控制的研究及仿真

For the control problem of swing -up and balance of the Acrobot, this paper presents a sub-real-time control strategy, the Acrobot gradually swings up and increases energy at the stability of downward vertical position using the expert system control, then make the Acrobot at the equilibrium point of instability with part of feedback linearization method, LQR method is used at the equilibrium point for balance control. In order to control complex nonlinear systems, optimize the control parameters with the control algorithm. Finally, the paper has done the simulation of the real-time control in MATLAB, and the result verifies the sub-real-time control method is good for the control of swing-up and balance of the Acrobot.