Development of a parallel inverted pendulum system and its control

Author

Park, Un Sik ; Kim, Joo Ho ; Kim, Sin Jong ; Choi, Jae Weon ; Kim, Jong Shik

Author_Institution

Sch. of Mech. Eng., Pusan Nat. Univ., South Korea

fYear

1999

fDate

36373

Firstpage

943

Lastpage

948

Abstract

We develop a parallel inverted pendulum system that has the characteristics of the strongly coupled dynamics of motion by an elastic spring, the time-varying system parameters, and inherent instability, etc. Hence, it is possible to approximate some kinds of a physical system into this representative system and apply the various control theories to this system in order to verify their fidelity and efficiency. For this purpose, an experimental system of the parallel inverted pendulum is implemented, and a control scheme using the eigenstructure assignment in the decoupling control is presented in comparison with the LQR optimal control method. Furthermore, this system can be utilized as a testbed to develop and evaluate new control algorithms through various setups. Finally, results of the experiment are compared with those of numerical simulations for validation

Keywords

control system analysis; dynamics; eigenstructure assignment; pendulums; robust control; stability; time-varying systems; decoupling control; dynamics; eigenstructure assignment; elastic spring; instability; parallel inverted pendulum; robust control; time-varying system; Control systems; Control theory; Friction; Mechanical variables control; Motion control; Numerical simulation; Optimal control; Robust control; Springs; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual, 1999. 38th Annual Conference Proceedings of the

Conference_Location

Morioka

Print_ISBN

4-907764-13-8

Type

conf

DOI

10.1109/SICE.1999.788676

Filename

788676