• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.249-252
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• 1996

The inverted pendulum system is mechanical system which can handle the modern control theory and practical applications. In theoretical field, it is used as the experimental device identifying the effects of control method and in applicative field. There are difficulties in designing or linearizing the practical controller because it is so sensitive to the parameter variation and has the highly non-linear characteristic. In this paper, we suggested the systems which compensate the non-linearity throughout the internal control method and designed controller which is robust to the parameter variation using sliding mode.

• 제어로봇시스템학회논문지
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• 제6권5호
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• pp.356-366
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• 2000

In this paper, a nonlinear $H_2/H_\infty/LTR$ control for the flexible inverted pendulum of a parallel type with Coulomb friction is presented. The dynamic equation for this system is derived by the Hamilton's principle and assumed-mode method. This hard nonlinear system can be modeled by a the quasi-linear state space model using the REF method. It is shown that the $H_2/H_\infty$ control can be applied to the nonlinear controller design of the system having Coulomb frictions if the proper LTR conditions are satisfied. In order to present the usefulness of the suggested control method, the nonlinear $H_2/H_\infty/LTR$ controller is designed to control the Position of the end point of the flexible inverted pendulum that has Coulomb frictions present in actuator parts. The results are given via computer simulations.

• 한국정밀공학회지
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• 제17권7호
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• pp.162-169
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• 2000

In this paper, we develop a parallel inverted pendulum system that has the characteristics of the strongly coupled dynamics of motion by an elastic spring, the time-variant system parameters, and inherent instability, and so on. Hence, it is possible to approximate some kinds of a physical system into this representative system and to apply the various control theories to this system in order to verie their fidelity and efficiency. For this purpose, an experimental system of the parallel inverted pendulum has been implemented, and a control scheme using the eigenstructure assignment for decoupling control is presented in comparison with the conventional LQR optimal control method. Furthermore, this system can be utilized as a testbed to develop and evaluate new control algorithms through various setups. Finally, in this paper, the results of the experiment are compared with those of numerical simulations for validation.

• 수산해양기술연구
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• 제30권3호
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• pp.199-208
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• 1994

The inverted pendulum is one of the control mechanism that has been frequently used to verify the control theory in the laboratory. In this paper, the author made an inverted pendulum driven by DC servomotor with a simple DC motor drive circuit, and constituted a control system. The control mechanism is modeled, and identified parameters of inverted pendulum system by experimental method. The author used the LQ regulator as control algorithm and the minimum order observer algorithm to observe states that can not be measured. And the validity of parameter identification and the excellent performance of the control system designed by LQR are confirmed.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권2호
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• pp.155-160
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• 2006

In the paper a robust indirect adaptive fuzzy controller is proposed for balancing and position control of the inverted pendulum system. Because balancing control rules of the pendulum and position control rules of the cart can be opposite, it is difficult to design an adaptive fuzzy controller that satisfy both objectives. To stabilize the pendulum at a specified position, the proposed fuzzy controller consists of a robust indirect adaptive fuzzy controller for balancing and a supervisory fuzzy controller which emulates heuristic control strategy and arbitrate two control objectives. It is proved that the signals in the overall system are bounded. Simulation results are given to verify the proposed adaptive fuzzy control method.

• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.440-445
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• 2010

This paper proposes a single accelerometer sensor control algorithm to mobile inverted pendulum, generally called 'Segway', and evaluates the performance of this system comparing to the conventional ones. The commercialized 'Prototype Segway-PT' is initially considered as a next-generation transport vehicle. However, this robot is operated by three gyroscopes and two accelerometers to control the posture and speed, and it requires the complex signal processing for fusing the two sets of data. As the result of this, the growth rate of market size of 'Segway' is slow because of its high price mainly. In this paper, the mobile inverted pendulum is operated by a single accelerometer to simplify the control system to lower the price. Low pass filter is one of the good sensors to reducing the variation of an accelerometer, but it has time delay. This time delay disturbs real-time mobile inverted pendulum control. Like this, other various algorithms are used for this system, but each one has its own weak point. So this paper proposes a new filtering method, median filter and EKF. Median filter is used to image processing to reject impulse elements like salt and pepper noise. As the major performance evaluation parameter for the accelerometer, the high-frequency to low frequency ratio from FFT (Fast Fourier Transform) is used. Effectiveness of the proposed algorithms has been verified through the real experiments and the results are demonstrated.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2015년도 제46회 하계학술대회
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• pp.85-86
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• 2015

This paper is to study the inverted pendulum system of cart type by using the method of PID control. This system is that inverted pendulum maintain a constant balance from unstable state by moving a cart. It is controlled via the PID controller. PID controller is proposed to maintain a constant balance for nonlinear system such as the inverted pendulum system so PID control is widely used in the industrial field because of superior control performance, easy implementation and relatively simple structure. To design this system, it consist of Encorder and DC motor. Encorder is used to read the angle of the pendulum and DC motor is used to change the angle. We can verify results of experiment through the Matlab simulator via the inverted pendulum system of cart type.

• 한국정보전자통신기술학회논문지
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• 제16권6호
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• pp.400-405
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• 2023

현재 도립진자는 많은 분야에서 연구 중이며 미사일, 로켓, 등의 자세 제어와 2족 보행 로봇 등에 응용되고 있다. 본 연구에서는 256펄스의 로터리 엔코더와 DC 모터를 이용한 회전형 도립진자(Rotary Inverted Pendulum)를 구성하여 회전형 역 진자의 수직 자세 제어를 연구하였다. 비선형 시스템의 경우 복잡한 알고리즘과 제어기가 필요하지만 고전적이며 비교적 간단한 PID(Proportional Integral Derivation)알고리즘을 이용한 제어 방법을 회전형 도립진자 시스템에 적용하였으며 간단하지만 원하는 성능을 높이는 방안을 연구하였다. 본 연구에서 사용된 회전형 도립진자 시스템은 비선형적이고 불안정한 시스템으로 선형화된 모델링에서 마이크로칩 사의 dsPIC30F4013 임베디드 프로세서를 이용한 PID 제어기를 설계 및 구현하였다. 보통 PID 제어기는 하나 혹은 두 가지 이상을 조합하여 설계하며 우수한 제어 성능에 비해 구조가 간단하며 제어 이득 조정이 다른 제어기들에 비해 비교적 쉽다는 장점이 있다. 본 연구에서는 시스템의 물리적 구조를 수학적 방법으로 분석하고 모델링을 통한 회전형 도립진자의 수직 균형을 위한 제어를 실현하였다. 또한 회전형 역 진자를 이용하여 PID 제어기로 제어가 가능한지 시뮬레이션과 실험을 통하여 그 타당성을 검증하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.480-482
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• 1998

Sliding mode is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances. This study shows that the proposed fuzzy sliding mode control could reduce chattering problemed in sliding mode control. In this paper, an inverted pendulum is effectively controlled by the fuzzy sliding control technique. To reduce movable region of the inverted pendulum body, the angle and its integrated quantity are applied to the controller. The effectiveness of result is shown by the simulation and the experimental test for the inverted pendulum.

• 제어로봇시스템학회논문지
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• 제9권8호
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• pp.623-631
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• 2003

We have fabricated the two-dimensional inverted pendulum system and designed its controller. The two-dimensional inverted pendulum system, which is composed of X-Y table, is actuated through timing belt by each of two geared DC motors. And the control goal is that the rod is always kept to a vertical position to any distrubance and is quickly moved to the desired position. Because this system has generally nonlinear dynamic characteristics and X-axis and Y-axis move together, it is very difficult to find its exact mathematical model and to design its controller. Therefore, we have designed the PID controller with simple structure and excellent performance. Genetic algorithm(GA), which is blown as one of probabilistic searching methods, and human's heuristic control strategy are introduced to design an optimal PID controller. The usefulness of the proposed GA based PID coefficient searching technique is verified through the experiments and computer simulations.