カオスを利用した倒立振子の振り上げ制御

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  • Swing-Up Control of a Inverted Pendulum Using Chaotic Motion.
  • カオス オ リヨウ シタ トウリツ フリコ ノ フリアゲ セイギョ

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The dynamics of an inverted pendulum system is generally described by nonlinear ordinary equations including trigonometric functions. Therefore, under certain conditions in the periodic motion of a cart, the pendulum exhibits chaotic motions. In this paper, we propose a new swing up control method for a parallel type double inverted pendulum using the chaotic motions that appear inherently in its dynamiCS. We calculate the bifurcation diagram in the control parameter plane, then design the swing up controllers based on this diagram. One chosen pendulum or two pendulums can be swung up from lowest position to upper positiom The experimental results demonstrate the effectiveness of this controller. We also compute the basins of attraction to understand the reason of effectiveness clearly.

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