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Swing-up control of inverted pendulum systems

Published online by Cambridge University Press:  09 March 2009

Alan Bradshaw and
Jindi Shao
Alan Bradshaw
Affiliation:
Engineering DepartmentLancaster UniversityLancasterLAI 4YR (UK)
Jindi Shao
Affiliation:
Engineering DepartmentLancaster UniversityLancasterLAI 4YR (UK)
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Summary

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.

Keywords

Inverted pendulumNonlinear unstable systemsSwing-up controlPartial-state feedback

Information

Type
Article
Information
Robotica , Volume 14 , Issue 4 , July 1996, pp. 397 - 405
Copyright
Copyright © Cambridge University Press 1996

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