Swing-up control of inverted pendulum systems.

Bradshaw, Alan and Shao, Jindi (1996) Swing-up control of inverted pendulum systems. Robotica, 14 (4). pp. 397-405. ISSN 0263-5747

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Abstract

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.

Item Type:
Journal Article
Journal or Publication Title:
Robotica
Additional Information:
http://journals.cambridge.org/action/displayJournal?jid=ROB The final, definitive version of this article has been published in the Journal, Robotica, 14 (4), pp 397-405 1996, © 1996 Cambridge University Press.
Uncontrolled Keywords:
/dk/atira/pure/subjectarea/asjc/1700/1712
Subjects:
?? softwarecontrol and systems engineeringmathematics(all)computer science applicationsta engineering (general). civil engineering (general) ??
ID Code:
20405
Deposited By:
Deposited On:
12 Dec 2008 16:19
Refereed?:
Yes
Published?:
Published
Last Modified:
03 Mar 2024 01:02