High-speed motion control of inverted pendulum robots

Akira Shimada, Naoya Hatakeyama

研究成果: Paper査読

6 被引用数 (Scopus)


An high-speed motion control technique of inverted pendulum robots making use of the unstability is introduced. Inverted pendulum is self-regulated system to simulate a game that a child sways up umbrella or stick. And the controller design for various pendulums have widly challenged in 1980s. After them, the machines for human riding using the same principle were developed and have been sold in U.S. And many biped walking robots have made use of the principle. Inverted pendulums are basically controlled as they do not fold up. This paper insistes an oposite idea against the basic principle. The presented controller breaks down the balance of it on purpose when it moves. That means that the controller makes use of unstability of pendulum system. And when it stops, it redresses the balance again. In order to realize the idea, the controller is designed by using partial feedback linearization that controls the tilt angle of the pendulum robot. At that time, the controller don't care the horizontal position of the robot. But the position can be controlled as a result successfuly.

出版ステータスPublished - 2006 11月 21
イベント9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey
継続期間: 2006 3月 272006 3月 29


Conference9th IEEE International Workshop on Advanced Motion Control, 2006

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学


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