Swing-up and Stabilization Control of a Cart-Pendulum System via Energy Control and Controlled Lagrangian Methods
نویسندگان
چکیده
منابع مشابه
MINIMUM TIME SWING UP AND STABILIZATION OF ROTARY INVERTED PENDULUM USING PULSE STEP CONTROL
This paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. Our rotary inverted pendulum is supported bya pivot arm. The pivot arm rotates in a horizontal plane by means of a servomotor. The opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. A pendulum is suspended at thejoint. The task is to design a contro...
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This paper describes the swing-up and stabilization of a cart–pendulum system with a restricted cart track length and restricted control force using generalized energy control methods. Starting from a pendant position, the pendulum is swung up to the upright unstable equilibrium con5guration using energy control principles. An “energy well” is built within the cart track to prevent the cart fro...
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Inverted pendulum control is a well-known and challenging problem, which is generally associated to attitude control of a rocket during take off. This system consists of one input generating the cart driving force, and two outputs (linear position of the cart and angular position of the rod). The objective of this experimental design is to swing up the pendulum rod using an appropriate open loo...
متن کاملAnalysis of the Energy Based Swing-up Control for a Double Pendulum on a Cart
Designing and analyzing controllers for underactuated systems with underactuation degree greater than one is still an open and challenging problem. In this paper, we study an unsolved problem of analyzing energy based swing-up control for a double pendulum on a cart, which has three degrees of freedom and only one control input. We present an original analysis of the convergence of the energy o...
متن کاملminimum time swing up and stabilization of rotary inverted pendulum using pulse step control
this paper proposes an approach for the minimum time swing upof a rotary inverted pendulum. our rotary inverted pendulum is supported bya pivot arm. the pivot arm rotates in a horizontal plane by means of a servomotor. the opposite end of the arm is instrumented with a joint whose axisis along the radial direction of the motor. a pendulum is suspended at thejoint. the task is to design a contro...
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ژورنال
عنوان ژورنال: IEEJ Transactions on Electronics, Information and Systems
سال: 2006
ISSN: 0385-4221,1348-8155
DOI: 10.1541/ieejeiss.126.617