대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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- Pages.133-134
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- 2007
회전변위 제약을 갖는 회진형 도립진자의 스윙업 제어
Swing up Control for a rotary pendulum with restricted rotation range
- Oh, Jang-Jin (School of electrical engineering, Inha University) ;
- Lee, Young-Sam (School of electrical engineering, Inha University)
- 발행 : 2007.10.26
초록
A swing-up control strategy is suggested for a rotary inverted pendulum with restricted rotation range. In order to take the rotation range limitation into account, a new Lyapunov function used for energy-based control is proposed a control strategy is derived from the Lyapunov function. Futhermore, optimization-base parameter estimation is adopted to get an exact mathematical model for the pendulum. Simulation results show that the proposed control strategy swings up the rotary inverted pendulum efficiently.
키워드