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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: 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.
    Subjects: T Technology > TA Engineering (General). Civil engineering (General)
    Departments: Faculty of Science and Technology > Engineering
    ID Code: 20405
    Deposited By: ep_ss_importer
    Deposited On: 12 Dec 2008 16:19
    Refereed?: Yes
    Published?: Published
    Last Modified: 26 Jul 2012 15:38
    Identification Number:
    URI: http://eprints.lancs.ac.uk/id/eprint/20405

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