Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Swing-up Control for a Rotary Inverted Pendulum with Restricted Rotation Range

회전변위 제약을 갖는 회전용 도립진자의 스윙업 제어

  • 이영삼 (인하대학교 전기공학부) ;
  • 오장진 (인하대학교 전기공학부) ;
  • 심수용 (인하대학교 전기공학부) ;
  • 임현 (인하대학교 전기공학부) ;
  • 서정현 (인하대학교 전기공학부)
  • Published : 2008.06.01
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Abstract

In this paper, we propose a new swing-up control strategy for rotary inverted pendulums with restricted rotation range. The control law is derived from a Lyapunov function. The Lyapunov function is defined as the square of the sum of the absolute value of the total mechanical energy and weighted squares of the arm's angular displacement and velocity. By adjusting the weighting parameters in the Lyapunov function, we can affect the swing-up strategy such that the restriction on rotation range can be satisfied. Finally, we verify the performance of the proposed control law through simulation and experiments.

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References

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