Title :
Swing-up and stabilization of an inverted pendulum without feedback control
Author :
Yabuno, N. ; Goto, K. ; Aoshima, N.
Author_Institution :
Ibaraki Univ., Japan
Abstract :
In this paper, we propose a method for swing-up and stabilization of a inverted pendulum without feedback control. By using high-frequency excitation, the state where the pendulum hangs down is destabilized, while the up-right position of the inverted pendulum is stabilized. These phenomena correspond to sub-critical and super-critical pitchfork bifurcations, respectively. By the perturbation of these bifurcation phenomena based on a bifurcation control, the swing-up and the stabilization are carried out. By a simple apparatus, the validity of the theoretically proposed method is experimentally confirmed.
Keywords :
bifurcation; feedback; pendulums; stability; feedback; high-frequency excitation; inverted pendulum; pitchfork bifurcation; stabilization; swing-up control; Analytical models; Angular velocity; Bifurcation; Differential equations; Feedback control; Gravity; Industrial control; Metalworking machines; Motion analysis; Steady-state;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1196544