회전변위 제약을 갖는 회진형 도립진자의 스윙업 제어

Swing up Control for a rotary pendulum with restricted rotation range

A swing-up control strategy is suggested for a rotary inverted pendulum with restricted rotation range. In order to take the rotation range limitation into account, a new Lyapunov function used for energy-based control is proposed a control strategy is derived from the Lyapunov function. Futhermore, optimization-base parameter estimation is adopted to get an exact mathematical model for the pendulum. Simulation results show that the proposed control strategy swings up the rotary inverted pendulum efficiently.