研究车摆系统在外部随机激励以及不确定扰动同时作用下的干扰抑制控制问题. 首先给出了系统的随机不确定非线性动态模型, 并通过反馈控制完成了系统的~Hamilton 实现, 分析了系统的耗散性能. 然后基于系统的耗散实现设计了干扰抑制控制器, 该控制器设计能够充分利用系统的能量产生、耗散和转换特性. 仿真结果验证了文章方法的有效性.

The disturbance attenuation control of one freedom cart-pendulum system with outer stochastic excitation and uncertain disturbance is investigated. First, a stochastic nonlinear system model is proposed for the system. Then, a state feedback control is proposed to complete the Hamiltonian realization of the system. The dissipation of the system is analyzed as well. Thirdly, a disturbance attenuation controller is proposed which can effectively utilize the power generation, dissipation and transformation property of the cart-pendulum system. Simulation results demonstrate the effectiveness of the proposed method.