Title :
Swing-up control of an inverted pendulum by energy-based methods
Author :
Yoshida, Kazunobu
Author_Institution :
Dept. of Electron. & Control Syst. Eng., Shimane Univ., Matsue, Japan
Abstract :
The mechanical energy of a pendulum whose pivot can move horizontally can be controlled according to signs of the pivot acceleration values. A servo design technique is proposed which can control the pivot acceleration considering a limited travel of the pivot. This control law is applied to the swing-up control problem for an inverted pendulum
Keywords :
acceleration control; control system synthesis; nonlinear control systems; pendulums; energy-based methods; inverted pendulum; nonlinear control; pivot acceleration control; servo design technique; swing-up control; Acceleration; Control systems; Design methodology; Error correction; Feedback; Mathematical model; Mechanical energy; Rails; Servomechanisms; Sliding mode control;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.786297
