On the Computer Control of the Parallel Inverted Pendulum with a Rotating Arm
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概要
- 論文の詳細を見る
This paper describes the stabilization control problem of the parallel inverted pendulum which attaches two vertically oriented pendulums to its different ends of a rotating arm. Generally, the mechanical system introduces some nonlinear friction terms, hence it is not sufficient to approximate the mechanical system to a linear model if precise control is necessary. Especially, it is not a suitable way to design the control system without the nonlinear friction terms taken into consideration. This is because of the existence of a strong mutual interaction between the parallel pendulum and the two vertically oriented pendulums to its ends. This paper proposes utilization of the state observer considering the nonlinear friction term for the state estimation of the parallel inverted pendulum system. Sufficient state estimation and control result were obtained by applying the proposed method to the control problem of an actual parallel inverted pendulum.
- 東海大学の論文
著者
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Miyazaki Kazuhiko
Course Of Electronics
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Hirata Hiroshi
Department Of Control Engineering
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ANABUKI Masatoshi
Department of Control Engineering
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KASUGA Kenji
Course of Electronics
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Anabuki Masatoshi
Department Of Applied Computer Engineering
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Hirata Hiroshi
Department Of Applied Computer Engineering
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