Computer control of a double inverted pendulum

Furuta, K.; Okutani, Tamio; Sone, H.

doi:10.1016/0045-7906(78)90018-6

Cited by 71 publications

(21 citation statements)

References 2 publications

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“…This problem, and several related ones, has a long history going back several decades. In the literature the name of Furuta stands out because of his early interest in these problems and the steady stream of experimental results reported by his group [2], [5], [1]. Our approach differes from those previously reported not in terms of the basic form of the mechanics, but rather in terms of important aspects of the experimental apparatus.…”

Section: Introductioncontrasting

confidence: 50%

A light weight rotary double pendulum: maximizing the domain of attraction

Brockett

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)

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Abstract-The usual application of feedback stabilization is based on linearization and the assumption of linear controllability. Least squares optimal control is often used to determine a set of feedback gains that will stabilize the system. In addition to the commonly acknowledged challenges arising when this methodology is applied to open-loop unstable systems with significant nonlinearities, there are also significant problems which are not given prominence in the literature. These include the role of high gain feedback in exciting vibrations in unmodeled modes and the possibility of lightly damped oscillatory modes accentuating the effect of the nonlinearities. In this paper we report some experimental results relating to these points and suggest some techniques for dealing with them.

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Section: Introductioncontrasting

confidence: 50%

A light weight rotary double pendulum: maximizing the domain of attraction

Brockett

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)

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“…Inverted pendulum is well known that it is a self-regulated system with a to-and-fro motion similar to the motion of a child swinging an umbrella or a stick [1], [2], [3], [4], [5]. However, designing a control system for various pendulums has been a challenge since the 1900s.…”

Section: Introductionmentioning

confidence: 99%

Direct tilt angle control on inverted pendulum mobile robots

Shimizu

Shimada

2010

2010 11th IEEE International Workshop on Advanced Motion Control (AMC)

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This paper introduces a tilt control based movement control scheme for inverted pendulum mobile robots. It is based on direct tilt angle control (DTAC) with a disturbance observer using the Kalman filtering technique. The DTAC is expected to be an effective for high acceleration, and the presented observer achieves a better estimation even if tilt joint angle sensor is a poorly-resolved. Although we have presented it in the previous papers and conferences, a drawback remains and it is shown high-speed curve and fast turn motions. It seems that the tilt angle sensor attached in the pendulum body causes instable during curved and turning motions. Where the sensor consistes of a rotary encoder with two thin and light arms which touch the floor. To fix this problem, we have adopted a gyro scope and concurrently design an observer. The gyro scopes are well-known and the basic structure of the observer is the same as the one presented by S.Matsumoto,Y.Fujimoto, et.al. However, this paper describes a try combining it with our original DTAC scheme.

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“…It seems to have been one of attractive tools for testing linear and nonlinear control laws [2] and [1]. Nearly all works on pendulum control concentrate on two problems: pendulums swing up control design and stabilization of the inverted pendulums.…”

Section: Introductionmentioning

confidence: 99%

“…Furuta et al [4] designed a controller for DIP by means of the state-space approach and the minimal-order observer. Furuta et al have designed and developed a digital controller for a DIP on inclined rail.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy optimal control for double inverted pendulum

Al‐Hadithi

Barragán

Andújar

et al. 2012

2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA)

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Abstract-In this paper a fuzzy optimal control for stabilizing an upright position a double inverted pendulum (DIP) is developed and compared. Modeling is based on Euler-Lagrange equations. This results in a complicated nonlinear fast reaction, unstable multivariable system. Firstly, the mathematical models of double pendulum system are presented. The weight variable fuzzy input is gained by combining the fuzzy control theory with the optimal control theory. Simulation results show that the controller, which the upper pendulum is considered as main control variable, has high accuracy, quick convergence speed and higher precision.

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Computer control of a double inverted pendulum

Cited by 71 publications

References 2 publications

A light weight rotary double pendulum: maximizing the domain of attraction

A light weight rotary double pendulum: maximizing the domain of attraction

Direct tilt angle control on inverted pendulum mobile robots

Fuzzy optimal control for double inverted pendulum

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