DocumentCode :
2853702
Title :
Nonlinear control of swing-up and stabilization of an inverted pendulum
Author :
Ohsumi, Akira ; Izumikawa, Takeya
Author_Institution :
Dept. of Mech. & Syst. Eng., Kyoto Inst. of Technol., Japan
Volume :
4
fYear :
1995
fDate :
13-15 Dec 1995
Firstpage :
3873
Abstract :
In this paper an effective method of control for swing-up and stabilization for an inverted pendulum system is established without resorting to any approximation of each nonlinear terms appearing in the mathematical models. The key idea is to derive the partially linearized system by the coordinate change and input transformation via the Lie theoretic approach and to apply a kind of equivalent linearizations to the resulting linear system with nonlinear output injection. Based on the linearized system, the control law is established performing both swing-up and stabilization of the pendulum. The effectiveness of the proposed control method is examined by numerical simulations and tested by experiments
Keywords :
Lie groups; linear systems; linearisation techniques; multivariable control systems; nonlinear control systems; stability; Lie theoretic approach; equivalent linearizations; inverted pendulum; nonlinear control; nonlinear output injection; partially linearized system; stabilization; swing-up; Control systems; Linear systems; Motion control; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Numerical simulation; State-space methods; Systems engineering and theory; Testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
ISSN :
0191-2216
Print_ISBN :
0-7803-2685-7
Type :
conf
DOI :
10.1109/CDC.1995.479206
Filename :
479206
Link To Document :
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