Swinging up and stabilizing an inverted pendulum by switching control

Guisheng Zhai; Shohei Okuno; Joe Imae; Tomoaki Kobayashi

doi:10.1109/ICMA.2007.4303597

Swinging up and stabilizing an inverted pendulum by switching control

Guisheng Zhai, Shohei Okuno, Joe Imae, Tomoaki Kobayashi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

In this paper, we consider a swing-up and stabilization problem for an inverted pendulum via switching control. According to our simulation and experiment experience together with the existing literature, we adopt three controller candidates, namely a linear optimal regulator for linear systems, a state dependent Riccati equation (SDRE) based nonlinear controller, and an energy dissipative controller. After analyzing each controller candidate's dynamical feature in this problem, we study how to switch among these controllers incorporating the system's initial value. As a result, we propose a completely new swinging up and stabilizing controller which switches among all the three controller candidates and achieves good performance totally.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Pages	521-526
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2007.4303597
Publication status	Published - 2007
Externally published	Yes
Event	2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, China Duration: 2007 Aug 5 → 2007 Aug 8

Publication series

Name	Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

Conference

Conference	2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Country/Territory	China
City	Harbin
Period	07/8/5 → 07/8/8

Keywords

Energy dissipation
Inverted pendulum
Optimal control
State dependent Riccati equation (SDRE)
Swing up and stabilization
Switching control

ASJC Scopus subject areas

Artificial Intelligence
Software
Control and Systems Engineering
Mechanical Engineering

Access to Document

10.1109/ICMA.2007.4303597

Cite this

Zhai, G., Okuno, S., Imae, J., & Kobayashi, T. (2007). Swinging up and stabilizing an inverted pendulum by switching control. In Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 (pp. 521-526). Article 4303597 (Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007). https://doi.org/10.1109/ICMA.2007.4303597

Swinging up and stabilizing an inverted pendulum by switching control. / Zhai, Guisheng; Okuno, Shohei; Imae, Joe et al.
Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 2007. p. 521-526 4303597 (Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhai, G, Okuno, S, Imae, J & Kobayashi, T 2007, Swinging up and stabilizing an inverted pendulum by switching control. in Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007., 4303597, Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, pp. 521-526, 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, Harbin, China, 07/8/5. https://doi.org/10.1109/ICMA.2007.4303597

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abstract = "In this paper, we consider a swing-up and stabilization problem for an inverted pendulum via switching control. According to our simulation and experiment experience together with the existing literature, we adopt three controller candidates, namely a linear optimal regulator for linear systems, a state dependent Riccati equation (SDRE) based nonlinear controller, and an energy dissipative controller. After analyzing each controller candidate's dynamical feature in this problem, we study how to switch among these controllers incorporating the system's initial value. As a result, we propose a completely new swinging up and stabilizing controller which switches among all the three controller candidates and achieves good performance totally.",

keywords = "Energy dissipation, Inverted pendulum, Optimal control, State dependent Riccati equation (SDRE), Swing up and stabilization, Switching control",

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year = "2007",

doi = "10.1109/ICMA.2007.4303597",

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AU - Okuno, Shohei

AU - Imae, Joe

AU - Kobayashi, Tomoaki

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N2 - In this paper, we consider a swing-up and stabilization problem for an inverted pendulum via switching control. According to our simulation and experiment experience together with the existing literature, we adopt three controller candidates, namely a linear optimal regulator for linear systems, a state dependent Riccati equation (SDRE) based nonlinear controller, and an energy dissipative controller. After analyzing each controller candidate's dynamical feature in this problem, we study how to switch among these controllers incorporating the system's initial value. As a result, we propose a completely new swinging up and stabilizing controller which switches among all the three controller candidates and achieves good performance totally.

AB - In this paper, we consider a swing-up and stabilization problem for an inverted pendulum via switching control. According to our simulation and experiment experience together with the existing literature, we adopt three controller candidates, namely a linear optimal regulator for linear systems, a state dependent Riccati equation (SDRE) based nonlinear controller, and an energy dissipative controller. After analyzing each controller candidate's dynamical feature in this problem, we study how to switch among these controllers incorporating the system's initial value. As a result, we propose a completely new swinging up and stabilizing controller which switches among all the three controller candidates and achieves good performance totally.

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KW - Optimal control

KW - State dependent Riccati equation (SDRE)

KW - Swing up and stabilization

KW - Switching control

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Swinging up and stabilizing an inverted pendulum by switching control

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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