Title :
Obstacle Rotary Inverted Pendulum Control via Polytope Techniques
Author :
Juan, Zhang ; Jie, Chen ; Peng, Li
Author_Institution :
Dept. of Autom. Control, Beijing Inst. of Technol., Beijing
Abstract :
The subject of this investigation is the rotary inverted pendulum system with an obstacle. The model and constraints on control, state and disturbance variables of rotary inverted pendulum system with an obstacle are analysised. Methods based on polytope geometric techniques are used for stabilizing the rotary inverted pendulum. The simulation results show that both methods can get the pendulum stabilized.
Keywords :
linear systems; nonlinear control systems; pendulums; stability; constrained linear systems; obstacle rotary inverted pendulum control; polytope technique; Automatic control; Control systems; DC motors; Equations; Information science; Lagrangian functions; Mathematical model; Robust control; Robust stability; Voltage control; hard constraints; inverted pendulum; obstacle; polytope techniques; stabilization;
Conference_Titel :
Mechtronic and Embedded Systems and Applications, 2008. MESA 2008. IEEE/ASME International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-2367-5
Electronic_ISBN :
978-1-4244-2368-2
DOI :
10.1109/MESA.2008.4735758
