NDLI: Swing-up control for an inverted pendulum with restricted cart rail length

Content Provider	Springer Nature Link
Author	Yang, Ji Hyuk Shim, Su Yong Seo, Jung Hun Lee, Young Sam
Copyright Year	2009
Abstract	In this paper, we propose a new swing-up strategy for cart inverted pendulums with restricted rail length. The proposed swing-up strategy is derived from a new Lyapunov function. The Lyapunov function is defined as the sum of the square of the pendulum energy and the weighted square of the cart’s velocity. The resulting swing-up strategy is represented in a compact form and has two design parameters. By adjusting these design parameters, we can affect the swing-up strategy such that the restriction on the rail length is satisfied. We also provide a state-dependent transformation to obtain voltage input to a DC motor required to generate the cart’s acceleration obtained from the proposed swing-up strategy. Finally, we illustrate the performance of the proposed swing-up law through simulation and experiments. It is shown that there is quite good correspondence between theory and experiments.
Starting Page	674
Ending Page	680
Page Count	7
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	7
Issue Number	4
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2009-08-01
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Cart inverted pendulum restricted rail length state-dependent transformation swing-up strategy Control Robotics Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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