Title :
Swing-up and stabilization control of a two-links rotational pendulum
Author :
Yang, Dong-Hoon ; Choi, Hyoun-Chul ; Yoo, Ki-Jeong ; Hong, Suk-Kyo
Author_Institution :
Dept. of Electron. Eng., Ajou Univ., Suwon, South Korea
Abstract :
A strategy for the swing-up and stabilization control method for a two-links rotational pendulum according to states of each link of the rotational pendulum is proposed. The proposed controller consists of two modes of control such as divergence mode and stabilization mode. When the controller is in divergence mode, control input is generated using sinusoidal function, which is developed based on resonance period of the pendulum in the linear region, to make the second link (pendulum) reach top position. After the controller finishes operation in divergence mode, stabilization control is initiated to keep the pendulum around the top position using the linear quadratic (LQ) control method. Experimental results are given to show the effectiveness of the proposed method
Keywords :
control system synthesis; linear quadratic control; pendulums; stability; controller design; divergence mode; linear quadratic control; resonance period; sinusoidal function; stabilization control; stabilization mode; swing-up control; top position; two-links rotational pendulum; Control systems; Control theory; Feedback; Laboratories; Lagrangian functions; Nonlinear dynamical systems; Nonlinear equations; Resonance; Robots; Rockets;
Conference_Titel :
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on
Conference_Location :
Pusan
Print_ISBN :
0-7803-7090-2
DOI :
10.1109/ISIE.2001.931662
