Swinging up and stabilizing an inverted pendulum by switching control

Guisheng Zhai, Shohei Okuno, Joe Imae, Tomoaki Kobayashi

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

2 Citations (Scopus)

Abstract

In this paper, we consider a swing-up and stabilization problem for an inverted pendulum via switching control. According to our simulation and experiment experience together with the existing literature, we adopt three controller candidates, namely a linear optimal regulator for linear systems, a state dependent Riccati equation (SDRE) based nonlinear controller, and an energy dissipative controller. After analyzing each controller candidate's dynamical feature in this problem, we study how to switch among these controllers incorporating the system's initial value. As a result, we propose a completely new swinging up and stabilizing controller which switches among all the three controller candidates and achieves good performance totally.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Pages521-526
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin
Duration: 2007 Aug 52007 Aug 8

Other

Other2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
CityHarbin
Period07/8/507/8/8

Fingerprint

Pendulums
Controllers
Switches
Riccati equations
Linear systems
Stabilization
Experiments

Keywords

  • Energy dissipation
  • Inverted pendulum
  • Optimal control
  • State dependent Riccati equation (SDRE)
  • Swing up and stabilization
  • Switching control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Software
  • Control and Systems Engineering
  • Mechanical Engineering

Cite this

Zhai, G., Okuno, S., Imae, J., & Kobayashi, T. (2007). Swinging up and stabilizing an inverted pendulum by switching control. In Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 (pp. 521-526). [4303597] https://doi.org/10.1109/ICMA.2007.4303597

Swinging up and stabilizing an inverted pendulum by switching control. / Zhai, Guisheng; Okuno, Shohei; Imae, Joe; Kobayashi, Tomoaki.

Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 2007. p. 521-526 4303597.

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

Zhai, G, Okuno, S, Imae, J & Kobayashi, T 2007, Swinging up and stabilizing an inverted pendulum by switching control. in Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007., 4303597, pp. 521-526, 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, Harbin, 07/8/5. https://doi.org/10.1109/ICMA.2007.4303597
Zhai G, Okuno S, Imae J, Kobayashi T. Swinging up and stabilizing an inverted pendulum by switching control. In Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 2007. p. 521-526. 4303597 https://doi.org/10.1109/ICMA.2007.4303597
Zhai, Guisheng ; Okuno, Shohei ; Imae, Joe ; Kobayashi, Tomoaki. / Swinging up and stabilizing an inverted pendulum by switching control. Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 2007. pp. 521-526
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