A Swingup Control of an Inverted Pendulum with Cart Position Control

Otani, Yusuke; Kurokami, Takuya; Hirashima, Yoichi

doi:10.1016/s1474-6670(17)32971-3

Cited by 4 publications

(10 citation statements)

References 5 publications

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“…We compare the proposed method with the existing one [4] which employs a linear controller for stabilizing. Figure 5 shows the experimental result using the existing method under the same conditions as the proposed one except for the stabilizing controller.…”

Section: Resultsmentioning

confidence: 99%

“…Otani and colleagues have experimentally ver ified that P = 0 occurs after only a short time [4]. Otani and colleagues have experimentally ver ified that P = 0 occurs after only a short time [4].…”

Section: Energy Control Methodsmentioning

confidence: 99%

“…4, and shows that this method cannot perfectly swing the pendulum up to the upright angle due to dissipative effect of mechanical components. 4, and shows that this method cannot perfectly swing the pendulum up to the upright angle due to dissipative effect of mechanical components.…”

Section: Swing-up Control Via Energy Controlmentioning

confidence: 98%

“…In addition to the energy control method proposed by Otani and colleagues [4] for swing-up, a stabilizing method based on controlled Lagrangians (CLs) is adopted instead of a linear controller. This means that these methods are not robust against the switching angle.…”

Section: Introductionmentioning

confidence: 99%

“…4, and shows that this method cannot perfectly swing the pendulum up to the upright angle, which makes it difficult to choose the switching angle. Section 3 gives the energy control method proposed in Ref.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Swing‐up and stabilization control of a cart– pendulum system via energy control and controlled Lagrangian methods

Sakurama

Hara

Nakano

2007

Electrical Engineering Japan

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This paper addresses a swing-up and stabilizing problem for a cart-pendulum system, which consists of a pendulum and a motor-driven cart. Existing methods are based on the strategy of swing-up of the pendulum by energy control methods, then switching the controllers to balance the pendulum when it approaches the upright position. The switching angle influences significantly control performance, so the pendulum might fall down if the angle is inadequately chosen. This paper proposes a swing-up and stabilizing control method which makes it possible to determine an appropriate switching angle more arbitrarily. In addition to the energy control method for swing-up, a stabilizing method based on controlled Lagrangians is adopted instead of a linear controller. The attractive domain of the closed-loop system with this method can be known in advance and is wider than with linear controllers. In this way, our proposed control strategy overcomes the difficulty in choosing the switching angle of the controllers. An experimental result illustrates the effectiveness of the proposed method.

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Section: Resultsmentioning

confidence: 99%

Section: Energy Control Methodsmentioning

confidence: 99%

Section: Swing-up Control Via Energy Controlmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Swing‐up and stabilization control of a cart– pendulum system via energy control and controlled Lagrangian methods

Sakurama

Hara

Nakano

2007

Electrical Engineering Japan

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One-Swing Stabilizer of the Inverted Pendulum on a cart

Safarini,

Nowicki

2024

2024 13th International Workshop on Robot Motion and Control (RoMoCo)

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Swing-up and Stabilization Control of a Cart-Pendulum System via Energy Control and Controlled Lagrangian Methods

2006

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SUMMARYThis paper addresses a swing-up and stabilizing problem for a cart-pendulum system, which consists of a pendulum and a motor-driven cart. Existing methods are based on the strategy of swing-up of the pendulum by energy control methods, then switching the controllers to balance the pendulum when it approaches the upright position. The switching angle influences significantly control performance, so the pendulum might fall down if the angle is inadequately chosen. This paper proposes a swing-up and stabilizing control method which makes it possible to determine an appropriate switching angle more arbitrarily. In addition to the energy control method for swing-up, a stabilizing method based on controlled Lagrangians is adopted instead of a linear controller. The attractive domain of the closed-loop system with this method can be known in advance and is wider than with linear controllers. In this way, our proposed control strategy overcomes the difficulty in choosing the switching angle of the controllers. An experimental result illustrates the effectiveness of the proposed method.

show abstract

A Swingup Control of an Inverted Pendulum with Cart Position Control

Cited by 4 publications

References 5 publications

Swing‐up and stabilization control of a cart– pendulum system via energy control and controlled Lagrangian methods

Swing‐up and stabilization control of a cart– pendulum system via energy control and controlled Lagrangian methods

One-Swing Stabilizer of the Inverted Pendulum on a cart

Swing-up and Stabilization Control of a Cart-Pendulum System via Energy Control and Controlled Lagrangian Methods

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