Swing up and Stability Control of Inverted Pendulum with Inertia Rotor under Energy Control and Sliding Mode Schemes

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  • エネルギー法とスライディングモード制御法による慣性ロータを有する倒立振子の振り上げ・安定化制御
  • エネルギーホウ ト スライディングモード セイギョホウ ニ ヨル カンセイ ロータ オ ユウスル トウリツ フリコ ノ フリアゲ アンテイカ セイギョ

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In this paper, we describe swing up and stability control of inverted pendulum with an inertia rotor. To realize the smooth swing up motion of the inverted pendulum, the energy method is introduced. Then, the speed of the inertia rotor is controlled so that the energy of the pendulum increases. When the pendulum is inverted, the control method is changed to the stability control with the sliding mode. The sliding mode controller is effective to stabilize the pendulum because the controller has robustness for the modeling error. The design of both swing up and stability controllers are shown. The responses of the pendulum using the both controllers are measured. Experimental results demonstrate that the proposed controllers have effectiveness and robustness.

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