Attitude control of a triple inverted pendulum

Furut, K.; Ochiai, Tsumoru; Ono, Natsuko

doi:10.1080/00207178408933251

Cited by 110 publications

(24 citation statements)

References 4 publications

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“…Interesting examples of multi-body pendulum models are: a pendulum on a cart, an acrobot, a pendubot, a pendulum actuated by a reaction wheel, the Furuta pendulum, and pendula consisting of multiple coupled bodies. Dynamics and control problems for these types of multi-body pendulum models have been studied in [10], [12], [13], [14], [15], [16], [17], [18].…”

Section: Introductionmentioning

confidence: 99%

Dynamics and control of a 3D pendulum

Shen

Sanyal

Chaturvedi

et al. 2004

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)

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Abstract-New pendulum models are introduced and studied. The pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force and control forces and moments. Several different pendulum models are developed to analyze properties of the uncontrolled pendulum. Symmetry assumptions are shown to lead to the planar 1D pendulum and to the spherical 2D pendulum models as special cases. The case where the rigid body is asymmetric and the center of mass is distinct from the pivot location leads to the 3D pendulum. Rigid pendulum and multi-body pendulum control problems are proposed. The 3D pendulum models provide a rich source of examples for nonlinear dynamics and control, some of which are similar to simpler pendulum models and some of which are completely new.

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Section: Introductionmentioning

confidence: 99%

Dynamics and control of a 3D pendulum

Shen

Sanyal

Chaturvedi

et al. 2004

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)

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“…[1]). For stabilizing pendulum systems with four or more links, no experimental success can be found in the literature.…”

Section: Introductionmentioning

confidence: 93%

The real stabilizability radius of the multi-link inverted pendulum

Lam

Davison

2006

2006 American Control Conference

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A multi-link inverted pendulum with an arbitrary number of v links and controlled by a single torque input is considered in this paper. It is well known that as the number of pendulum links increases, an experimental pendulum system becomes more difficult to stabilize, and this is demonstrated in this paper for a nonlinear model of a multi-link inverted pendulum system. It is conjectured that the primary reason for such an increase of difficulty is due to the poor stabilizability robustness properties of the pendulum's linearized model as additional links are added. Using the real stability and stabilizability radius, this conjecture is confirmed.

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“…It has two degrees of freedom and can be controlled by a user's self-designed algorithm. Users can make the inverted pendulum with only one degree of freedom by changing the way it works [4,5]. Also, they can change the running architecture of it.…”

Section: End-effectorsmentioning

confidence: 99%

A multifunctional dual-arm edurobot

Yang

Zhang

et al. 2004

Int J Adv Manuf Technol

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In this article, we introduce a self-designed multifunctional two-armed educational robot, the main characteristic of which is to have a contrast teaching with its two different arms, one is open loop, the other closed loop. In addition, it can write, draw, perform an inverted pendulum, process images, and play Chinese chess, etc. This robot is not only a good demonstration architecture for engineering students but also offers them a multifunctional open experimental environment so that they can use it to carry out their innovations.

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Attitude control of a triple inverted pendulum

Cited by 110 publications

References 4 publications

Dynamics and control of a 3D pendulum

Dynamics and control of a 3D pendulum

The real stabilizability radius of the multi-link inverted pendulum

A multifunctional dual-arm edurobot

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