Stabilization of a 2-DOF spherical pendulum on X-Y table

Author

Yang, Rong ; Kuen, Yiu-yiu ; Li, Zexiang

Author_Institution

Dept. of Electr. & Electron. Eng., Hong Kong Univ., China

fYear

2000

fDate

2000

Firstpage

724

Lastpage

729

Abstract

In this paper, a 2-DOF spherical pendulum system is constructed and balanced on a X-Y table. The pendulum is projected onto the x-z and y-z planes, which are parallel to the two motion directions of the X-Y table. These projections are treated independently to each other and are controlled separately. The stabilization control for a 1D inverted pendulum is proposed based on the state space approach and the Lie theoretic tools without resorting any direct approximation to each nonlinear term. A specially developed sensor system allows the contactless measurement of the inclination angles of the pendulum. The experimental results are reported

Keywords

differential geometry; linearisation techniques; nonlinear control systems; pendulums; stability; state-space methods; X-Y table; balancing; differential geometry; inclination angle measurement; inverted pendulum; linearisation; nonlinear control system; sensor system; spherical pendulum; stability; stabilization; state space; Control design; Design engineering; Fasteners; Magnetic sensors; Magnetic separation; Packaging; Sensor phenomena and characterization; Sensor systems; Servomotors; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on

Conference_Location

Anchorage, AK

Print_ISBN

0-7803-6562-3

Type

conf

DOI

10.1109/CCA.2000.897522

Filename

897522