柔軟な倒立振子に対するゲインスケジューリング制御

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  • Control of a flexible inverted pendulum with a gain scheduling control

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<p>This study deals with a gain scheduling control system design of a flexible inverted pendulum. Flexible structures, due to their characteristics, generate vibrations and become cause of instability. Accordingly, it is required to decrease vibration by the control method. In addition, the dynamic characteristics of the inverted pendulum change depending on the amount of the angle of the pendulum. For that reason, it is difficult to realize efficient control by using a fixed single controller. If the flexibility of the pendulum is ignored in the model for controller design, the control system can become unstable because of so called spillover phenomenon. In the H∞ control framework, it is possible to deal with the control specification given in the frequency domain such as preventing spillover. Using these features we designed the controller that does not excite flexible modes of the pendulum and is scheduled according to the angle of the pendulum to achieve high control performance.</p>

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