Swing-up and stabilization control of a two-links rotational pendulum

Author

Yang, Dong-Hoon ; Choi, Hyoun-Chul ; Yoo, Ki-Jeong ; Hong, Suk-Kyo

Author_Institution

Dept. of Electron. Eng., Ajou Univ., Suwon, South Korea

Volume

2

fYear

2001

fDate

2001

Firstpage

1266

Abstract

A strategy for the swing-up and stabilization control method for a two-links rotational pendulum according to states of each link of the rotational pendulum is proposed. The proposed controller consists of two modes of control such as divergence mode and stabilization mode. When the controller is in divergence mode, control input is generated using sinusoidal function, which is developed based on resonance period of the pendulum in the linear region, to make the second link (pendulum) reach top position. After the controller finishes operation in divergence mode, stabilization control is initiated to keep the pendulum around the top position using the linear quadratic (LQ) control method. Experimental results are given to show the effectiveness of the proposed method

Keywords

control system synthesis; linear quadratic control; pendulums; stability; controller design; divergence mode; linear quadratic control; resonance period; sinusoidal function; stabilization control; stabilization mode; swing-up control; top position; two-links rotational pendulum; Control systems; Control theory; Feedback; Laboratories; Lagrangian functions; Nonlinear dynamical systems; Nonlinear equations; Resonance; Robots; Rockets;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on

Conference_Location

Pusan

Print_ISBN

0-7803-7090-2

Type

conf

DOI

10.1109/ISIE.2001.931662

Filename

931662