Motion control of an inverted pendulum via final-state control

研究成果: Article査読

3 被引用数 (Scopus)

抄録

In this paper the author proposes a control method that can bring a system to an arbitrary final state even if the input is already saturated, by adopting a hyperbolic tangential function that describes the input limitation. Furthermore, by using the derivative of the function, the obtained input becomes continuous at terminal points of an initial time and a final time. This formulation of the input limitation can be described by a linear parameter-dependent system and the final-state control with error learning can be applied to the system. The effectiveness of this method is verified by carrying out both simulations and experiments of the swing-up motion control of a cart and inverted pendulum system, whose cart displacement is limited. This method does not require precise determination of the final time and can generate a continuous, smooth, feedforward control input when the output of the actuator is limited.

本文言語English
ページ(範囲)625-631
ページ数7
ジャーナルJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
43
3
DOI
出版ステータスPublished - 2000 9月
外部発表はい

ASJC Scopus subject areas

  • 機械工学
  • 産業および生産工学

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