Paper Info
Title
Swinging-up and stabilization control based on natural frequency for pendulum systems
Abstract
This paper proposes a swinging-up and stabilization method for inverted pendulums based on a pendulum oscillation model. A normalized oscillation model is derived by using only one model parameter, i.e., the natural frequency of a pendulum. As a control strategy, energy-based control with a normalized energy model is utilized for the swinging-up from the pendant position. For the stabilization of the pendulum at the upright position, variable structure system (VSS) type adaptive control is designed through the linearized oscillation model. Validity of the proposed method has been confirmed by simulation of an inverted pendulum on a cart. Swinging-up and stabilization control was realized by using only the natural frequency of the pendulum, and the proposed method was also confirmed to be robust against parameter perturbation for the natural frequency. Stability of the designed controller was proven for a given condition that angular velocity of the pendulum has an upper bound.
Year
DOI
Venue
2009
10.1109/ACC.2009.5160431
ACC'09 Proceedings of the 2009 conference on American Control Conference
Keywords
DocType
ISSN
normalized oscillation model,pendulum system,linearized oscillation model,pendulum oscillation model,normalized energy model,inverted pendulum,stabilization control,model parameter,natural frequency,energy-based control,control strategy,switches,upper bound,variable structure system,oscillators,model validation,angular velocity,mathematical model,stability,oscillations,adaptive control,stability analysis,data mining,frequency,robust control,modeling,acceleration,error correction,control systems
Conference
0743-1619
Citations 
PageRank 
References 
2
0.64
1
Authors
5
Name
Order
Citations
PageRank
Noriko Matsuda120.64
Masaki Izutsu272.68
Jun Ishikawa3106.60
Katsuhisa Furuta416776.43
Karl J. Åström5609.99