DocumentCode
2910712
Title
Application of dynamic inversion with extended high-gain observers to inverted pendulum on a cart
Author
Joonho Lee ; Mukherjee, Rohan ; Khalil, Hassan K.
Author_Institution
Dept. of Mech. Eng., Michigan State Univ., East Lansing, MI, USA
fYear
2013
fDate
17-19 June 2013
Firstpage
4234
Lastpage
4238
Abstract
In this paper we utilize dynamic inversion together with high-gain observers to stabilize an inverted pendulum on a cart. Dynamic inversion is used to invert the nonlinear map involving the control input and the high-gain observers are used to estimate the states and terms related to acceleration variables. Through numerical simulations and experiments, it is shown that it is possible to stabilize the inverted pendulum on a cart and recover the performance of state feedback control.
Keywords
acceleration; nonlinear systems; observers; pendulums; stability; state feedback; acceleration variables; control input; dynamic inversion; extended high-gain observers; inverted pendulum on a cart; nonlinear map; numerical simulations; state estimation; state feedback control performance; Acceleration; Interference; Observers; Output feedback; Signal to noise ratio; State feedback; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference (ACC), 2013
Conference_Location
Washington, DC
ISSN
0743-1619
Print_ISBN
978-1-4799-0177-7
Type
conf
DOI
10.1109/ACC.2013.6580490
Filename
6580490
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