Swing-up and Stabilization Control of a Cart-Pendulum System via Energy Control and Controlled Lagrangian Methods
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- Sakurama Kazunori
- Department of Electronic Engineering, The University of Electro-Communications
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- Hara Satoshi
- Department of Electronic Engineering, The University of Electro-Communications
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- Nakano Kazushi
- Department of Electronic Engineering, The University of Electro-Communications
Bibliographic Information
- Other Title
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- 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
- 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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Abstract
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.
Journal
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- IEEJ Transactions on Electronics, Information and Systems
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IEEJ Transactions on Electronics, Information and Systems 126 (5), 617-623, 2006
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390282679582072960
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- NII Article ID
- 10018111427
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- NII Book ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL BIB ID
- 7947111
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed