Control of double inverted pendulum with elastic joint

Author

Kawaji, Shigeyasu ; Kanazawa, Kazunobu

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Kumamoto Univ., Japan

fYear

1991

fDate

3-5 Nov 1991

Firstpage

946

Abstract

Deals with the modeling of a flexible inverted pendulum. The mathematical model of the controlled object used is a simplified one, which is approximated by rigid links and springs. The possibility of driving a simplified model of the flexible inverted pendulum using a double inverted pendulum with an elastic joint is studied. The experimental results show that the simplified model is sufficient to describe the flexible inverted pendulum, but with some modeling and identification errors. These uncertainty will excite the vibration. An H_∞ control to stabilize the flexible inverted pendulum using the simplified model is presented

Keywords

control system analysis; mechanical variables control; optimal control; pendulums; stability; H_∞ control; double inverted pendulum; elastic joint; flexible inverted pendulum; mathematical model; mechanical variables control; modeling; optimal control; stability; vibration; Control systems; Equations; Friction; Gravity; Kinematics; Mathematical model; Mechanical systems; Regulators; Uncertainty; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174610

Filename

174610