TY - JOUR

T1 - Swing-up control of inverted pendulum systems.

AU - Bradshaw, Alan

AU - Shao, Jindi

N1 - 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.

PY - 1996/7

Y1 - 1996/7

N2 - 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.

AB - 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.

U2 - 10.1017/S0263574700019792

DO - 10.1017/S0263574700019792

M3 - Journal article

VL - 14

SP - 397

EP - 405

JO - Robotica

JF - Robotica

SN - 0263-5747

IS - 4

ER -