Loading...
Please wait, while we are loading the content...
Similar Documents
Swing-up control of inverted pendulum systems
| Content Provider | Scilit |
|---|---|
| Author | Bradshaw, Alan Shao, Jindi |
| Copyright Year | 1996 |
| Description | In Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with previous swing-up controls shows that the proposed swing-up control is simpler, eaiser. more efficient, and more robust.In Part II the technique is extended to the case of the swing-up control of double inverted pendulum systems. Use is made of a novel selective partial-state feedback control law. The nonlinear, open-loop unstable, nonminimum-phase. and interactive MIMO pendulum system is actively linearised and decoupled about a neutrally stable equilibrium by the partial-state feedback control. This technique for swing-up control is not at all sensitive to uncertainties such as modelling error and sensor noise, and is both reliable and robust. |
| Related Links | https://eprints.lancs.ac.uk/id/eprint/20405/1/download.pdf https://core.ac.uk/download/pdf/69881.pdf https://www.cambridge.org/core/services/aop-cambridge-core/content/view/96252082CF7A9421E81DC6CB7AB5AEA6/S0263574700019792a.pdf/div-class-title-swing-up-control-of-inverted-pendulum-systems-div.pdf |
| Ending Page | 405 |
| Page Count | 9 |
| Starting Page | 397 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574700019792 |
| Journal | Robotica |
| Issue Number | 4 |
| Volume Number | 14 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 1996-07-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica Mechanical Engineering Inverted Pendulum Nonlinear Unstable Systems up Control state Feedback |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
