20202 切り替え制御による回転型倒立振子の振り上げ制御(制御(1),一般講演)

概要

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The purpose of this study is to design a swinging up control law for a rotation type inverted pendulum. Rotation type inverted pendulum system consists of a pendulum and a rotation arm. The pendulum angle is controlled by moving the arm. We proposed a control law that switches control input according to the pendulum angle. This control law was designed for a system whose input acts on the pivot of pendulum directly. The control input of the system considered in this paper, acts on it through rotation arm. In numerical simulations, the relationship between the control gain and the convergence speed of pendulum angle is discussed.
一般社団法人日本機械学会の論文
2009-03-05