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SWING-UP CONTROL OF INVERTED PENDULUM BY PERIODIC INPUT
Toshiaki Takahashi Katsuhisa Furuta
Shoshiro Hatakeyama Satoshi Suzuki
Akihiko Sugiki
Graduate School of Systems Engineering
Tokyo Denki University
Hatoyama-cho, Hiki-gun, Saitama, 350-0394, JAPAN
E-mail: ttakahashi@hatalab.k.dendai.ac.jp,
furuta@k.dendai.ac.jp
In this paper, the swing-up control of a 1-link pendulum with the sinusoidally excited pivot is studied from a viewpoint of energy. The amplitude of the periodic signal is used as the control input, and is manipulated so that the energy of the pendulum equals to the potential energy at the up-right position. Numerical simulation confirms the validity of the proposed method.
Keywords: Sinusoidal signals, Energy control, Global stability, Nonlinear models, Inversion, Lyapunov function
Session slot T-Th-E05: Control Education II/Area code 6a : Control Education
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