《TABLE I PENDULUM PARAMETERS》
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《Periodic Motion Planning and Control for Double Rotary Pendulum via Virtual Holonomic Constraints》
In order to verify the robustness of the proposed method，additive zero-mean Gaussian white noise is added to the output signals and the signal-to-noise ratio is considered as 80 dB.Additionally，a constant disturbance 0.1 N·m is added to the control input.The transverse coordinates are shown in Fig.9.Compared with Fig.5，we could see that output signals contain significant noise.Moreover，y3has a static error around 2degrees.This error is due to the constant disturbance.For the control signal shown in Fig.10，the static mean value is around-0.1 N·m rather than 0 as in nominal case and this is because of the disturbance as well.
| 图表编号 | XD0046940500 严禁用于非法目的 |
|---|---|
| 绘制时间 | 2019.01.01 |
| 作者 | Zeguo Wang、Leonid B.Freidovich、Honghua Zhang |
| 绘制单位 | Beijing Institute of Control Engineering、IEEE、the Robotics and Control Laboratory (www.control.tfe.umu.se),Department of Applied Physics and Electronics,Umea University、Beijing Institute of Control Engineering |
| 更多格式 | 高清、无水印（增值服务） |
