434 水平軸と垂直軸を併用した倒立振子の振り上げ制御

概要

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The invert pendulum is often used to confirm the control theory and a new control design, because it is unstable system and an experiment on it is easy. This paper has a discussion about a swinging-up problem of the inverted pendulum. While usually an inverted pendulum is swung up by the horizontal movement of a cart, we propose a new swing-up method by both a horizontal and vertical movements of a cart. The movement of a cart is defined to increase energy of a pendulum. With the proposed method, a time for swing- up is shortened. An effectiveness of the proposed method is confirmed though the experiments. Since the proposed swinging-up control does not use system parameters for example a mass and a length of pendulum, the proposed control has robustness against parameter fluctuation.
一般社団法人日本機械学会の論文
2007-09-25