Title :
Energy based control of pendulum
Author :
Iwashiro, Masafumi ; Furuta, Katsuhisa ; Åström, Karl J.
Author_Institution :
Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan
Abstract :
We have studied several control algorithms using pendulums. In this paper we consider a golf shot by a rotational type pendulum, that is swinging a pendulum and hitting a golf ball by it. First, we propose a control method based on the energy principle. Second, a control method in which the angle and energy of the pendulum are regulated is presented. The effectiveness of the proposed methods is shown by the experiments
Keywords :
pendulums; dynamics; energy based control; energy principle; golf shot; swinging pendulum; Acceleration; Angular velocity; Equations; Gears; Hardware; Hydraulic actuators; Rotors; Torque; Uncertainty; Velocity control;
Conference_Titel :
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2975-9
DOI :
10.1109/CCA.1996.558953
