回転型並列倒立振子のコンピュータ制御

概要

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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 extimation 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