Title :
Design of control method to rotate pendulum
Author :
Baba, Yasutaka ; Izutsu, Masaki ; Pan, Yaodong ; Furuta, Katsuhisa
Author_Institution :
Dept. of Comput. & Syst. Eng., Tokyo Denki Univ., Saitama
Abstract :
In the control of a pendulum, the stabilization at the upright position has been aimed. This paper proposes an angle-based control method to rotate the pendulum and to stabilize the base link. The rotational control system is designed to let the pendulum track the rotation of a reference pendulum. And the stabilization of the base link is designed by the state-dependent Riccati equation (SDRE) based on zero-dynamics of the pendulum. The simulation result shows the effectiveness
Keywords :
Riccati equations; control system synthesis; nonlinear control systems; pendulums; stability; Furuta pendulum; angle-based control method; reference model; rotational control system; state-dependent Riccati equation; Control systems; Design engineering; Design methodology; Modeling; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Optimal control; Riccati equations; Systems engineering and theory; SDRE; reference model; rotation control;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.314990
