Title :
Swing-up control of inverted pendulum using vibrational input
Author :
Michitsuji, Y. ; Furuta, Katsuhisa ; Yamakita, Masaki
Author_Institution :
Dept. of Mech. & Environ. Inf., Tokyo Inst. of Technol., Japan
Abstract :
Swing-up of pendulum is a good example for nonlinear control theory. For the pendulum whose control input is vertical acceleration of the suspension pivot, we confront difficulties to derive a control law due to singularity of the system. However, the phenomena of stabilizing the pendulum by sinusoidally vibrating the suspension pivot has been observed. The aim of the paper is to use the above phenomena for swing-up of the pendulum and experimentally show the effectiveness of the proposed control law
Keywords :
control system synthesis; nonlinear control systems; nonlinear dynamical systems; pendulums; position control; stability; variable structure systems; inverted pendulum; nonlinear control theory; singularity; suspension pivot; swing-up control; vertical acceleration; vibrational input; Acceleration; Chaos; Control systems; Control theory; Feedback; Informatics; Nonlinear control systems; Pensions; Systems engineering and theory; Vibration control;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897428
