Motion Control of an Inverted Pendulum via Final-State Control
スポンサーリンク
概要
- 論文の詳細を見る
In this paper, the author proposes a control method that can bring a system to an arbitrary hal state even if the input is already saturated, by adopting a hyperbolic tangential function that describes the input limitation. Furthermore, by using the derivative of the function, the obtained input becomes continuous at terminal points of an initial time and a hal time. This formulation of the input limitation can be described by a linear parameter-dependent system and the final-state control with error learning can be applied to the system. The effectiveness of this method is verified by carrying out both simulations and experiments of the swing-up motion control of a cart and inverted pendulum system, whose cart displacement is limited. This method does not require precise determination of the hal time and can generate a continuous, smooth, feedforward control input when the output of the actuator is limited.
- 2000-09-15
著者
-
NISHIMURA Hidekazu
Department of Electronics and Mechanical Engineering, Faculty of Engineering ,Chiba University
-
Nishimura Hidekazu
Department Of Electronics And Mechanical Engineering Chiba University
-
Nishimura Hidekazu
Department Of Bacteriology Yamagata University School Of Medicine
-
Nishimura Hidekazu
Department of Electronics and Mechanical Engineering, Chiba University
関連論文
- System identification and attitude control of motorcycle by computer-aided dynamics analysis
- Motion Control of an Inverted Pendulum via Final-State Control
- Design Method of Gain-Scheduled Control System Considering Actuator Saturation : Experimental Verification for Cart and Inverted Pendulum System(Advances in Motion and Vibration Control Technology)
- ACTIVE VIBRATION ISOLATION CONTROL FOR A STRUCTURE TAKING ACCOUNT OF ACTUATOR CONSTRAINTS
- Active Vibration Isolation Control for a Multi-Degree-of-Freedom Structure with Uncertain Base Dynamics
- Gain-Scheduled Control of a Tower Crane Considering Varying Load-Rope Length
- Identification of Influenza C Virus Phosphoproteins
- Experimental Study on Active Vibration Control of Structures by means of H^∞ Control and H^2 Control
- Disturbance Cancellation Control for Vibration of Multi-Degree-of-Freedom Systems : Case of Using Active Vibration Absorber and Active Dynamic Vibration Absorber
- H^∞/μ Control-Based Frequency-Shaped Sliding Mode Control for Flexible Structures
- Robust Control of Magnetic Levitation Systems by Means of H^∞ Control/μ-Synthesis
- ROBUST CONTROL OF ENGINE TEST BED CONSIDERING VARIATION OF TRANSMISSION DYNAMICS
- Final-state control of a two-link cat robot
- Complicated Secondary Pneumonia after Swine-Origin Influenza A Virus Infection in an Immunocompetent Patient