Swinging up and stabilizing an inverted pendulum by switching control

Guisheng Zhai, Shohei Okuno, Joe Imae, Tomoaki Kobayashi

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
ページ521-526
ページ数6
DOI
出版ステータスPublished - 2007 12 18
外部発表はい
イベント2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, China
継続期間: 2007 8 52007 8 8

出版物シリーズ

名前Proceedings 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

ASJC Scopus subject areas

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

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