High speed movement control making use of zero dynamics on inverted pendulums

Akira Shimada, Naoya Hatakeyama

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

This paper introduces a high-speed motion control technique for inverted pendulums using zero dynamics. Inverted pendulums are self-regulated systems that simulate the motion of a child swinging up an umbrella or stick. The controller design for various pendulums has been widely challenged since the 1970s. Recently, machines using this principle are developed for human riding. Many bipedal robots are also base on this principle. Several researchers have contributed toward the advancement of nonlinear control techniques. However, such inverted pendulums are controlled to avoid falling over. However, this paper presents a contradicting theory. The pendulum deliberately breaks down the balance while in motion. This concept is similar to "sprinting" by speed skaters. Moreover, when the pendulum stops, it restores the balance again. Thus, the controller connected to the movement control mode is designed using partial feedback linearization. Furthermore, when the controller makes the pendulum stop, the control law switches from movement control mode to stationary control mode, which uses linear LQ servo control. The experimental results successfully showed that the pendulum could traverse a distance of 250mm in 0.5-1.0s.

本文言語English
ホスト出版物のタイトルIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
ページ4043-4048
ページ数6
DOI
出版ステータスPublished - 2006 12月 1
外部発表はい
イベントIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, France
継続期間: 2006 11月 62006 11月 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Conference

ConferenceIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
国/地域France
CityParis
Period06/11/606/11/10

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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