DocumentCode
2170514
Title
Obstacle Rotary Inverted Pendulum Control via Polytope Techniques
Author
Juan, Zhang ; Jie, Chen ; Peng, Li
Author_Institution
Dept. of Autom. Control, Beijing Inst. of Technol., Beijing
fYear
2008
fDate
12-15 Oct. 2008
Firstpage
597
Lastpage
601
Abstract
The subject of this investigation is the rotary inverted pendulum system with an obstacle. The model and constraints on control, state and disturbance variables of rotary inverted pendulum system with an obstacle are analysised. Methods based on polytope geometric techniques are used for stabilizing the rotary inverted pendulum. The simulation results show that both methods can get the pendulum stabilized.
Keywords
linear systems; nonlinear control systems; pendulums; stability; constrained linear systems; obstacle rotary inverted pendulum control; polytope technique; Automatic control; Control systems; DC motors; Equations; Information science; Lagrangian functions; Mathematical model; Robust control; Robust stability; Voltage control; hard constraints; inverted pendulum; obstacle; polytope techniques; stabilization;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechtronic and Embedded Systems and Applications, 2008. MESA 2008. IEEE/ASME International Conference on
Conference_Location
Beijing
Print_ISBN
978-1-4244-2367-5
Electronic_ISBN
978-1-4244-2368-2
Type
conf
DOI
10.1109/MESA.2008.4735758
Filename
4735758
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