State Dependent Switching Control for Inverted Pendulum System
نویسندگان
چکیده
A switching control strategy for inverted pendulum systems is proposed based on the energy function and its transitions. We deal with a simplified second order model of cart-pendulum systems. Assume a virtual energy whose potential energy has an opposite sign. Paying attention to the motions of the pendulum, the energy changes are analyzed theoretically. According to these analyses, the conditions of a simple switching controller are derived and the stability of the switching controlled system is guaranteed. The role of the parameters in controllers is examined in numerical simulations. Copyright© 2005 IFAC
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 کاملAnalysis and control of switched linear systems via dwell-time min-switching
This paper addresses analysis and switching control problems of switched linear systems. To this end, a mixed time-driven and state-dependent switching strategy is proposed. It guarantees an average dwell time evenwhen all subsystems are unstable. The switching rule and its associated switching output feedback controllers are designed to stabilize the switched system and satisfy a weighted L2 g...
متن کاملExperimental Studies of Swing Up and Balancing Control of an Inverted Pendulum System Using Intelligent Algorithms Aimed at Advanced Control Education
This paper presents the control of an inverted pendulum system using intelligent algorithms, such as fuzzy logic and neural networks, for advanced control education. The swing up balancing control of the inverted pendulum system was performed using fuzzy logic. Because the switching time from swing to standing motion is important for successful balancing, the fuzzy control method was employed t...
متن کاملControl for Transformation of a Four Wheeled to Two Wheeled Mobile Robot
This paper proposes a study on the linearization of a four wheeled mobile robot with wheel arms, its behavior with a variable structure control for both linearized system and nonlinear system when it transform to two wheeled inverted pendulum state from four wheeled state. It also proposes a control technique to stabilize the system in inverted pendulum mode after the system transforms. Since t...
متن کاملA Switching Controller for the Stabilization of the Damping Inverted Pendulum Cart System
We present a switching approach for the stabilization of the strongly damped inverted pendulum cart system, provided that the pendulum is initialized inside of the upper-half plane, and the linear viscous force is known. The control strategy uses two stabilizing controllers. The first is a nonlinear controller, devoted to bringing the pendulum very close to its unstable equilibrium point. Then,...
متن کامل