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 Dec 18
Event2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, China
Duration: 2007 Aug 52007 Aug 8

Publication series

NameProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

Conference

Conference2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
CountryChina
CityHarbin
Period07/8/507/8/8

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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] (Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007). https://doi.org/10.1109/ICMA.2007.4303597