论文标题
倒摆在柔软表面上的倒摆的随机特性
Stochastic properties of an inverted pendulum on a wheel on a soft surface
论文作者
论文摘要
我们研究了柔软的表面和比例综合衍生的控制器的车轮上倒摆的动力学。这种摆的行为是由具有差分包含的系统建模的。如果系统具有用于摆的旋转速度，倾斜传感器和车轮编码器的传感器，则可以观察到该系统。观察到的控制器的使用数据将随机扰动带入系统。研究了随机控制下的差分包含的特性，以用于摆的上部位置。摆在上部位置附近的时间的时间公式。
We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a sensor for the rotational velocity of the pendulum, the tilt sensor and the encoder for the wheel then this system is observable. The using of the observed data for the controller brings stochastic perturbations into the system. The properties of the differential inclusion under stochastic control is studied for upper position of the pendulum. The formula for the time, which the pendulum spends near the upper position, is derived.
