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Subject: search.filters.subject.Inverted pendulum

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    Swinging-up and stabilizing control of inverted pendulum on cart system by hybrid controller
    (2009-01-01)
    Asa, Ekachai
    ;
    Benjanarasuth, Taworn
    ;
    Komine, Noriyuki
    In this paper, a hybrid controller designed for swinging-up and stabilizing an inverted pendulum on cart system is presented. The energy control concept is employed for moving the cart back and forth until the total energy of kinetic energy and potential energy are changed enough to swing the inverted pendulum up to around the upright position within the ranges of pendulum angle and angular velocity specified in the switching condition. After that, the stabilizing controller is switched to stabilize the inverted pendulum at the upright position. The stabilizing controller is a linear servo state feedback controller designed by coefficient diagram method. The simulation and experimental results in swinging-up the pendulum from its pendant position to around the position within a limited travel of the cart without pre-assigned cart's position and stabilizing the inverted pendulum on cart are also shown for comparison.
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    Hybrid controller for swinging up and stabilizing the inverted pendulum on cart
    (2008-12-01)
    Asa, Ekachai
    ;
    Benjanarasuth, Taworn
    ;
    Ngamwiwit, Jongkol
    ;
    Komine, Noriyuki
    In this paper, a hybrid controller for swinging up and stabilizing an inverted pendulum on cart is presented. The energy control concept is employed to swing the inverted pendulum up to around the upright position within the assigned switching condition. After that, the stabilizing controller is then switched to stabilize the inverted pendulum at the upright position. The stabilizing controller is a linear servo state feedback controller designed by Coefficient Diagram Method. The simulation results show that the designed hybrid controller can be mutually operated with acceptable efficiency.
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    Self-tuning control for rotation type inverted pendulum using two kinds of adaptive controllers
    (2006-12-01)
    Hirata, Hiroshi
    ;
    Haga, Koji
    ;
    Anabuki, Masatoshi
    ;
    Ouchi, Shigeto
    ;
    Ratiroch-Anant, Phornsuk
    This paper presents the self-tuning control method for the rotation type inverted pendulum that the momentum of inertia of the pendulum part changes widely. The control system prepares two kinds of adaptive controllers, and the stabilization of inverted pendulum is achieved by separating the control mode to two stages. The rotational angle of the pendulum is stabilized by VSS (Variable Structure System) adaptive control method to unknown parameter system at the first stage, and whole basic parameters are simultaneously estimated in the parameter estimation system. After the eigenvalue of the inverted pendulum system converge sufficiently, the controller is changed to LQ (Linear Quadratic) control at the second stage. It is verified by the practical experiment that the proposed self-tuning strategy is very useful as one of the on-line tuning method © 2006 IEEE.
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    Hybrid controller for swinging up inverted pendulum system
    (2005-12-01)
    Nundrakwang, Songmoung
    ;
    Benjanarasuth, Taworn
    ;
    Ngamwiwit, Jongkol
    ;
    Komine, Noriyuki
    A hybrid controller for swinging up inverted pendulum system is proposed in this paper. The controller composes of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position by moving the cart back and forth until the pendulum swings up around the upright position. The second part is a servo state feedback control designed by LQR which will be switched to stabilize the inverted pendulum in its upright position. The effectiveness and reliability of the proposed hybrid controller for swinging up inverted pendulum on cart are also shown by the experimental results. © 2005 IEEE.