Title :
Control of double inverted pendulum with elastic joint
Author :
Kawaji, Shigeyasu ; Kanazawa, Kazunobu
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Kumamoto Univ., Japan
Abstract :
Deals with the modeling of a flexible inverted pendulum. The mathematical model of the controlled object used is a simplified one, which is approximated by rigid links and springs. The possibility of driving a simplified model of the flexible inverted pendulum using a double inverted pendulum with an elastic joint is studied. The experimental results show that the simplified model is sufficient to describe the flexible inverted pendulum, but with some modeling and identification errors. These uncertainty will excite the vibration. An H∞ control to stabilize the flexible inverted pendulum using the simplified model is presented
Keywords :
control system analysis; mechanical variables control; optimal control; pendulums; stability; H∞ control; double inverted pendulum; elastic joint; flexible inverted pendulum; mathematical model; mechanical variables control; modeling; optimal control; stability; vibration; Control systems; Equations; Friction; Gravity; Kinematics; Mathematical model; Mechanical systems; Regulators; Uncertainty; Vibration control;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174610
