Swing-up Control of Inverted Pendulum Using Pseudo-State Feedback

DOI Web Site 被引用文献3件
  • K Furuta
    Department of Control Engineering, Tokyo Institute of Technology, Japan
  • M Yamakita
    Department of Control Engineering, Tokyo Institute of Technology, Japan
  • S Kobayashi
    NSK Limited, Japan

書誌事項

公開日
1992-11
権利情報
  • https://journals.sagepub.com/page/policies/text-and-data-mining-license
DOI
  • 10.1243/pime_proc_1992_206_341_02
公開者
SAGE Publications

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説明

<jats:p>Swing-up control, that is the transfer of a pendulum from a pendant state to the inverted one, is a good laboratory experiment of optimal control theory for non-linear control systems. The optimal control can be determined by the maximum principle and obtained as a function of time. Since the control is, however, determined in a feedforward fashion, the control is not robust to disturbances and uncertainties of the system, and the transfer of the state of the pendulum is not assured. In the paper, a robust swing-up control using a subspace projected from the whole state space is proposed. Based on the projected state space or pseudo-state, the control input is determined depending on the partitioning of the state as a bang-bang type control. The control algorithm is applied for a new type of pendulum (TI Tech pendulum), and the effectiveness and robustness of the proposed control are examined by experiments.</jats:p>

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