Analysis of the energy based control for swinging up two pendulums

Author

Xin, Xin ; Kaneda, Masahiio

Author_Institution

Dept. of Commun. Eng., Okayama Prefectural Univ., Japan

Volume

5

fYear

2003

fDate

9-12 Dec. 2003

Firstpage

4688

Abstract

This paper studies the energy based control for swinging up two pendulums on a cart. This paper presents an original and detail analysis of the convergence of the energies of two pendulums and provides the condition such that the pendulums can be swung up. Moreover, the stability analysis of the motion of two pendulums under the energy based control is accomplished via the concept of stability of an invariant set. These analyses not only show theoretically the effectiveness of the energy based control for swinging up two pendulums, but also pave one way for analyzing and designing the energy based control for more complicated underactuated mechanical systems.

Keywords

control system analysis; control system synthesis; convergence; nonlinear control systems; pendulums; position control; power control; stability; convergence; energy based control analysis; energy based control design; pendulum swinging; stability analysis; underactuated mechanical systems; Acceleration; Communication system control; Computer science; Control systems; Convergence; Motion analysis; Motion control; Potential energy; Power engineering and energy; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7924-1

Type

conf

DOI

10.1109/CDC.2003.1272312

Filename

1272312