DocumentCode
313851
Title
Stabilizing control for a single pendulum by moving the center of gravity: theory and experiment
Author
Yoshida, Kazunobu ; Kawanishi, Kouji ; Kawabe, Hisashi
Author_Institution
Fac. of Eng., Hiroshima Inst. of Technol., Japan
Volume
5
fYear
1997
fDate
4-6 Jun 1997
Firstpage
3405
Abstract
For a single pendulum whose weight can be transferred up and down, a stabilizing control law that damps the swing has been developed using Lyapunov´s method. In deriving the law, the nonlinearities of the system are considered outright. The control system has a structure where the weight position is changed according to θ and θ˙ (θ represents the angular displacement) and uses the Coriolis force favorably. The results of an experimental investigation are also shown
Keywords
Coriolis force; Lyapunov methods; observers; position control; stability; variable structure systems; Coriolis force; angular displacement; center of gravity; single pendulum; stabilizing control; Control systems; Displacement control; Feedback control; Force control; Gravity; Lyapunov method; Mathematical model; Nonlinear equations; Variable structure systems; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.612097
Filename
612097
Link To Document