Swing-Up Control of a Pendulum
نویسنده
چکیده
A pendulum is a bob of mass , attached to a frictionless pivot point via a massless rod of length . The bob is free to swing from side to side in a vertical plane. Let denote the acceleration due to gravity. Let denote the angle between the rod and a vertical axis. The pendulum has two equilibrium positions, a stable one at = 0 (bottom) and an unstable one at = (top). Assume further that we apply a torque to the pendulum, increasing (counterclockwise motion) when 0. Let be constrained by | | ≤ 0. The angular equation of motion is [1, 2]
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...
متن کاملDynamics and Regulation of Locomotion of a Human Swing Leg as a Double-Pendulum Considering Self-Impact Joint Constraint
Background:Despite some successful dynamic simulation of self-impact double pendulum (SIDP)-as humanoid robots legs or arms- studies, there is limited information available about the control of one leg locomotion.Objective :The main goal of this research is to improve the reliability of the mammalians leg locomotion and building more elaborated models close to the natural movements, by modelin...
متن کاملSwing-up control of inverted pendulum systems
In Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with pre...
متن کاملNatural Frequency based Swing up of Rotary Inverted Pendulum and its Stabilization
This paper aims at the applications of natural frequency of inverted pendulum and Takagi-Sugeno (TS) fuzzy control in the swing up and stabilization of Rotary inverted pendulum (RIP) respectively. RIP is one of the important multivariable system in control to test the performance of any controller due to its nonlinear, unstable, non-minimum phase and under actuated nature. Many techniques based...
متن کاملPractical Swing-up Controller Design for a Cart-type Single Inverted Pendulum Having a Serial Second Pendulum as Parasitic Dynamics
This paper proposes a swing-up control scheme for a cart-type single pendulum having a serial second pendulum as a parasitic part. The proposed control scheme swings up the first pendulum with controlling the motion of a cart and being robust to the parasitic part. In the swing-up, the second pendulum is swinging at the top of the first pendulum and the motion of the second pendulum works as st...
متن کاملSwing-up and Stabilizing Control of Classical and Rotary Inverted Pendulum Systems
The purpose of this paper is to present the design of a complete control strategy for the classical and rotary single inverted pendulum system. The design, which involves swing-up and stabilization of both systems, is based on function blocks and GUI tools from the Inverted Pendula Modeling and Control, a Simulink block library developed by the author of the paper. Keywords—classical single inv...
متن کامل