Control of the Cart-Pendulum System Based on Discrete Mechanics - Part II: Transformation to Continuous-Time Inputs and Experimental Verification -

• KAI Tatsuya

  Faculty of the Graduate School of Engineering, Kyushu University

• BITO Kensuke

  Mitsubishi Heavy Industries, Ltd.

• SHINTANI Takeshi

  Kyocera Corporation

Abstract

In this paper, we consider a stabilization problem for the cart-pendulum system based on discrete mechanics, which is known as a good discretizing method for mechanical systems and has not been really applied to control theory. First, the continuous and discrete cart-pendulum systems are explained. We next propose a transformation method that converts a discrete-time input derived from the discrete-time optimal regulator theory into a continuous-time zero-order hold input, and carry out some simulations on stabilization of the cart-pendulum system by the transformation method. Then, we apply not only our proposed method but also existing methods to an experimental laboratory of the cart-pendulum system and perform some experiments in order to verify the availability of the proposed method.

Journal

• IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences

  IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences E95-A (2), 534-541, 2012

  The Institute of Electronics, Information and Communication Engineers

Keywords

• discrete mechanics
• cart-pendulum system
• transformation method
• continuous-time zero-order hold input

Details

• CRID: 1390001206311698432
• NII Article ID: 10030607735
• NII Book ID: AA10826239
• DOI: 10.1587/transfun.e95.a.534
• ISSN: 17451337
• ISSN: 09168508
• Web Site: http://www.jstage.jst.go.jp/article/transfun/E95.A/2/E95.A_2_534/_pdf
• Text Lang: en
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed