DESIGN AND ANALYSIS OF THE ENERGY BASED SWING-UP CONTROL FOR TWO PARALLEL PENDULUMS ON A CART

摘要：

In this paper, we study an unsolved problem of analyzing energy based swing-up control for the system of two parallel pendulums on a cart, which has 3 degrees of freedom and only 1 control input. We present an orig inal analysis of the convergence of the energy of this cart-pendulum system. We prove that for all initial states of this cart-pendulum system, if the convergent value of the energy is not equal to the energy at the upright (up-up) equilibrium point, then the two pendulums remain at their up-down, clown-up, and down-down equi librium points, which are unstable equilibrium points. We show that for almost all initial states of this cart pendulum system, as time approaches infinity, the energy of the system can be controlled to its energy at the uptight equilibrium point and the cart displacement converges to the desired position. We also validate the de veloped theoretical results via numerical simulation.

关键词： Swing-up Control Two pendulums Energy based control

作者: Hiroki Masuda Xin Xin Taiga Yamasaki

作者单位: Okayama Prefectural University, Okayama 719 - 1197, Japan

会议类型: 国际会议

会议名称: The Ninth International Conference on Industrial Management(第九届工业管理国际会议 ICIM2008)

会议地点: 日本大阪

会议语种:英文

页码: 872-877

在线出版日期: 2008-09-16（万方平台首次上网日期，不代表论文的发表时间）