関節型3重振立倒子の姿勢制御

概要

論文の詳細を見る
This paper is concerned with the attitude control of a triple inverted pendulum, the angles of whose upper two hinges are controlled and the lowest hingle is made free for rotation. The procedure to design the control system for the pendulum is found effective to that for general unstable mechanical system, which may be a simulation of the procedure of the control system design. The control system is designed by using CAD developed by author and is realized by a digital computer. The controller is designed as a robust servo controller based on a linearized model in the neighbourhood of the upright position of the pendulum. The function of the controller is found satisfactory even in cese when the upper angles of the pendulum are required to be changed. Thus this paper presents the result that the attitude control of the triple inverted pendulum is succeeded.
1983-03-15