Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Implementation of a Parallel Inverted Pendulum System with Decoupling Control

병렬형 역진자 시스템 제작 및 분리제어

  • 김주호 (부산대학교 기계공학부) ;
  • 박운식 (부산대학교 기계공학) ;
  • 최재원 (부산대학교 기계공학부 및 기계기술 연구소)
  • Published : 2000.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we develop a parallel inverted pendulum system that has the characteristics of the strongly coupled dynamics of motion by an elastic spring, the time-variant system parameters, and inherent instability, and so on. Hence, it is possible to approximate some kinds of a physical system into this representative system and to apply the various control theories to this system in order to verie their fidelity and efficiency. For this purpose, an experimental system of the parallel inverted pendulum has been implemented, and a control scheme using the eigenstructure assignment for decoupling control is presented in comparison with the conventional LQR optimal control method. Furthermore, this system can be utilized as a testbed to develop and evaluate new control algorithms through various setups. Finally, in this paper, the results of the experiment are compared with those of numerical simulations for validation.

Keywords

References

  1. K. Furuta, T. Okutani, and H. Sone, Computer Control of a Double Inverted Pendulum, Computer and Electronic Engineering, No. 5, pp. 67-84, 1978 https://doi.org/10.1016/0045-7906(78)90018-6
  2. C. W. Anderson, Learning to Control an Inverted Pendulum Using Neural Networks, IEEE Control and System Magazine, Vol. 9, No. 3, pp. 31-37, 1989 https://doi.org/10.1109/37.24809
  3. G. W. V. Linden and P. F. Lambrechts, $H_{\infty}$ Control of an Experimental Inverted Pendulum with Dry Friction, Proceedings of the 31th IEEE Conference on Decision and Control, pp. 123-128, 1992
  4. R. Gurumoorthy and S. R. Sanders, Controlling Non-minimum Phase Nonlinear System the Inverted Pendulum on a Cart Example, Proceedings of the 32th IEEE Conference on Decision and Control, pp. 680-685, 1993
  5. K. G. Eltohamy and C. Y. Kuo, Nonlinear Optimal Control a Triple Link Inverted Pendulum with Single Control Input, International Journal of Control, Vol. 60, No. 2, pp. 239-256, 1998
  6. A. Snell, Decoupling Control Design with Applications to Flight, Journal of Guidance, Control, and Dynamics, Vol. 21, No. 4, pp. 647-655, 1998
  7. J. W. Choi, A Simultaneous Assignment Methodology of Right/Left Eigenstructure, IEEE Transactions on Aerospace and Electronic Systems, Vol. 34, No. 2, pp. 625-634, 1998 https://doi.org/10.1109/7.670342
  8. J. W. Choi, Left Eigenstructure Assignment via Sylvester Equation, KSME International Journal, Vol. 12, No. 6, pp. 1034-1040, 1998
  9. M. J. 0,3rien and J. R. Broussard, Feedforward Control to Track the Output of a Forced Model, Proceedings of the 17th Conference on Decision and Control, pp. 1149-1155, 1978
  10. G. M. Siouris, J. G. Lee, and J. W. Choi, Design of a Modern Pitch Pointing Control System, IEEE Transactions on Aerospace and Electronic Systems, Vol. 31, No. 2, pp. 730-738, 1995 https://doi.org/10.1109/7.381920
  11. 김주호, 최재원, CGT와 고유구조 지정법을 이용한 지남차의 불연성화 제어기 설계, 한국정밀공학희지, 제16권, 제6호, pp. 176-182, 1999
  12. A. N. Andry, E. Y. Shapiro, and J. C. Chung, Eigenstructure Assignment for Linear Systems, IEEE Transactions on Aerospace and Electronics Systems, Vol. 19, No. 5, pp. 711-729, 1983 https://doi.org/10.1109/TAES.1983.309373