再構成アトラクタを用いた二重振り子の安定化制御 [in Japanese] Stabilizing Control of Double Pendulum Using Reconstructed Attractor [in Japanese]
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A lot of researches on chaos have been made. However, most of them are just investigation using computer simulation, and researches on actual chaotic system is very few. It is well known that double pendulum is a representative chaotic system. This paper deals with an actual handmade double pendulum and stabilize its chaotic motion by the extended OGY method, which we propose. First, by using reconstructed attractor which is a state space to express chaotic time series, the motion of the pendulum is analyzed. Next, the proposed new control method is applied and proved that very small control input can stabilize the system. Finally, it is compared to the disturbance observer method, and shows the superiority of the proposed control method.
- IEEJ Transactions on Sensors and Micromachines
IEEJ Transactions on Sensors and Micromachines 120(1), 142-147, 2000-01
The Institute of Electrical Engineers of Japan