High-speed motion control of inverted pendulum robots

Akira Shimada, Naoya Hatakeyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

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
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages307-310
Number of pages4
Volume2006
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul
Duration: 2006 Mar 272006 Mar 29

Other

Other9th IEEE International Workshop on Advanced Motion Control, 2006
CityIstanbul
Period06/3/2706/3/29

Fingerprint

Motion control
Speed control
Pendulums
Robots
Controllers
Feedback linearization

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Shimada, A., & Hatakeyama, N. (2006). High-speed motion control of inverted pendulum robots. In International Workshop on Advanced Motion Control, AMC (Vol. 2006, pp. 307-310). [1631676] https://doi.org/10.1109/AMC.2006.1631676

High-speed motion control of inverted pendulum robots. / Shimada, Akira; Hatakeyama, Naoya.

International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. p. 307-310 1631676.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shimada, A & Hatakeyama, N 2006, High-speed motion control of inverted pendulum robots. in International Workshop on Advanced Motion Control, AMC. vol. 2006, 1631676, pp. 307-310, 9th IEEE International Workshop on Advanced Motion Control, 2006, Istanbul, 06/3/27. https://doi.org/10.1109/AMC.2006.1631676
Shimada A, Hatakeyama N. High-speed motion control of inverted pendulum robots. In International Workshop on Advanced Motion Control, AMC. Vol. 2006. 2006. p. 307-310. 1631676 https://doi.org/10.1109/AMC.2006.1631676
Shimada, Akira ; Hatakeyama, Naoya. / High-speed motion control of inverted pendulum robots. International Workshop on Advanced Motion Control, AMC. Vol. 2006 2006. pp. 307-310
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