書誌事項
- タイトル別名
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- Stabilization Control of a Rotational Inverted Pendulum Using a Gain Scheduled Method Based on Pole-Assignment
- キョク ハイチホウ ニ モトヅイタ ゲインスケジューリング ニ ヨル カイテンガタ トウリツ フリコ ノ アンテイカ セイギョ
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説明
A nonlinear control scheme for an inverted pendulum system which has a pivot rotating in the vertical plane is proposed. The state equation which includes the parameter of the rotation anegle of the arm in the system and input matrices is derived in order to express the nonlinearity of the system. The nonlinear controller is designed using a gain scheduled method based on a pole-assignment scheme. The effectiveness of the proposed control scheme is experimentally demonstrated and discussed. Then, it is clarified that on unstable phenomenon occur at the particular rotation angle of the arm, and is theoretically discussed by a modal analysis.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 69 (682), 1473-1478, 2003
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681334346624
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- NII論文ID
- 110002379018
- 130004234826
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- NII書誌ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL書誌ID
- 6630490
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可