エネルギー制御法と制御ラグラジアン法による倒立振子の振上げ・安定化制御

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  • Swing-up and Stabilization Control of a Cart-Pendulum System via Energy Control and Controlled Lagrangian Methods
  • エネルギー セイギョホウ ト セイギョ ラグラジアンホウ ニ ヨル トウリツ フリコ ノ フリアゲ アンテイカ セイギョ

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This paper addresses a swing-up and stabilization problem of a cart-pendulum system using energy control and controlled Lagrangian methods. A common strategy for this problem is to switch two controllers for swing-up and stabilization according to the angle of the pendulum. In most cases, control performance greatly depends on the switching angle, and choice of a bad angle cannot even stand the pendulum upward. Thus, a lot of trial and error is necessary to find effective switching angles. To release us from the difficulty in choosing the switching angle, this paper proposes a robust control method to assist our choice based on controlled Lagrangian and energy control methods. Experimental results demonstrate that the proposed combination methods can effectively swing up and stabilize the pendulum, whereas existing methods cannot.

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