ロボットによる倒立振子の安定化制御 : 最適レギュレータ理論による制御システムの設計と実験

概要

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This paper describes the control design method and the experimental results of the stabilizing control of a inverted pendulum by a one-link horizontal robot. First, the nonlinear equation of motion of the mechanical system consisting of the pendulum and the robot is showed. Then, by applying the optimal regulator theory to the linear equation of motion, the optimal feedback coefficients are derived, and the validity of the control design method are confirmed by the numerical simulation of the stabilizing control of the inverted pendulum. Furthermore, it is showed experimentally that the inverted pendulum can be controlled well by the robot, and the experimental results of the continuous control consisting of the swing-up control and stabilizing control is demonstrated.
社団法人日本機械学会の論文
1991-12-25