High-speed motion control of inverted pendulum robots

Akira Shimada, Naoya Hatakeyama

Research output: Contribution to conferencePaperpeer-review

6 Citations (Scopus)


An high-speed motion control technique of inverted pendulum robots making use of the unstability is introduced. Inverted pendulum is self-regulated system to simulate a game that a child sways up umbrella or stick. And the controller design for various pendulums have widly challenged in 1980s. After them, the machines for human riding using the same principle were developed and have been sold in U.S. And many biped walking robots have made use of the principle. Inverted pendulums are basically controlled as they do not fold up. This paper insistes an oposite idea against the basic principle. The presented controller breaks down the balance of it on purpose when it moves. That means that the controller makes use of unstability of pendulum system. And when it stops, it redresses the balance again. In order to realize the idea, the controller is designed by using partial feedback linearization that controls the tilt angle of the pendulum robot. At that time, the controller don't care the horizontal position of the robot. But the position can be controlled as a result successfuly.

Original languageEnglish
Number of pages4
Publication statusPublished - 2006 Nov 21
Externally publishedYes
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
Duration: 2006 Mar 272006 Mar 29


Conference9th IEEE International Workshop on Advanced Motion Control, 2006

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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