TY - GEN
T1 - Swinging up and stabilizing an inverted pendulum by switching control
AU - Zhai, Guisheng
AU - Okuno, Shohei
AU - Imae, Joe
AU - Kobayashi, Tomoaki
PY - 2007
Y1 - 2007
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.
KW - Energy dissipation
KW - Inverted pendulum
KW - Optimal control
KW - State dependent Riccati equation (SDRE)
KW - Swing up and stabilization
KW - Switching control
UR - http://www.scopus.com/inward/record.url?scp=37049029999&partnerID=8YFLogxK
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U2 - 10.1109/ICMA.2007.4303597
DO - 10.1109/ICMA.2007.4303597
M3 - Conference contribution
AN - SCOPUS:37049029999
SN - 1424408288
SN - 9781424408283
T3 - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
SP - 521
EP - 526
BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
T2 - 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Y2 - 5 August 2007 through 8 August 2007
ER -