NDLI: High Speed Movement Control making use of Zero Dynamics on Inverted Pendulums

Content Provider	IEEE Xplore Digital Library
Author	Shimada, A. Hatakeyama, N.
Copyright Year	2006
Description	Author affiliation: Dept. of Electr. Syst. Eng., Polytechnic Univ., Kanagawa (Shimada, A.; Hatakeyama, N.)
Abstract	This paper introduces a high-speed motion control technique for inverted pendulums using zero dynamics. Inverted pendulums are self-regulated systems that simulate the motion of a child swinging up an umbrella or stick. The controller design for various pendulums has been widely challenged since the 1970s. Recently, machines using this principle are developed for human riding. Many bipedal robots are also base on this principle. Several researchers have contributed toward the advancement of nonlinear control techniques. However, such inverted pendulums are controlled to avoid falling over. However, this paper presents a contradicting theory. The pendulum deliberately breaks down the balance while in motion. This concept is similar to "sprinting" by speed skaters. Moreover, when the pendulum stops, it restores the balance again. Thus, the controller connected to the movement control mode is designed using partial feedback linearization. Furthermore, when the controller makes the pendulum stop, the control law switches from movement control mode to stationary control mode, which uses linear LQ servo control. The experimental results successfully showed that the pendulum could traverse a distance of 250 mm in 0.5-1.0 s
Starting Page	4043
Ending Page	4048
File Size	468123
Page Count	6
File Format	PDF
ISBN	1424403901
ISSN	1553572X
DOI	10.1109/IECON.2006.348051
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-11-06
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Linear feedback control systems Motion control Humans Robots Switches Servosystems
Content Type	Text
Resource Type	Article

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