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http://dx.doi.org/10.5302/J.ICROS.2008.14.6.548

Swing-up Control for a Rotary Inverted Pendulum with Restricted Rotation Range  

Lee, Y.S. (인하대학교 전기공학부)
Oh, J.J. (인하대학교 전기공학부)
Shim, S.Y. (인하대학교 전기공학부)
Lim, H. (인하대학교 전기공학부)
Seo, J.H. (인하대학교 전기공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.6, 2008 , pp. 548-553 More about this Journal
Abstract
In this paper, we propose a new swing-up control strategy for rotary inverted pendulums with restricted rotation range. The control law is derived from a Lyapunov function. The Lyapunov function is defined as the square of the sum of the absolute value of the total mechanical energy and weighted squares of the arm's angular displacement and velocity. By adjusting the weighting parameters in the Lyapunov function, we can affect the swing-up strategy such that the restriction on rotation range can be satisfied. Finally, we verify the performance of the proposed control law through simulation and experiments.
Keywords
rotary inverted pendulum; swing-up control; restricted rotation range;
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