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Swing-up control of inverted pendulum systems.

Research output: Contribution to journalJournal articlepeer-review

Published
  • Alan Bradshaw
  • Jindi Shao
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<mark>Journal publication date</mark>07/1996
<mark>Journal</mark>Robotica
Issue number4
Volume14
Number of pages9
Pages (from-to)397-405
Publication StatusPublished
<mark>Original language</mark>English

Abstract

In Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with previous swing-up controls shows that the proposed swing-up control is simpler, eaiser. more efficient, and more robust. In Part II the technique is extended to the case of the swing-up control of double inverted pendulum systems. Use is made of a novel selective partial-state feedback control law. The nonlinear, open-loop unstable, nonminimum-phase. and interactive MIMO pendulum system is actively linearised and decoupled about a neutrally stable equilibrium by the partial-state feedback control. This technique for swing-up control is not at all sensitive to uncertainties such as modelling error and sensor noise, and is both reliable and robust.

Bibliographic note

http://journals.cambridge.org/action/displayJournal?jid=ROB The final, definitive version of this article has been published in the Journal, Robotica, 14 (4), pp 397-405 1996, © 1996 Cambridge University Press.