• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.606-609
• /
• 1995

To stabilize a satellite, a spin stabilization method is used for attitude control. The spin stabilization uses the centrifugal force of a pendulum damper which is tilted long boom, to stabilize the unstable satellite. In this paper, an inverted pendulum system is implemented which is similar to the spin stabilization method. Study on the velocity of the rotation axis and the inverted pendulum's angle stability is shown. We designed a controller using a 32bit TMS320C31 DSP for the CPU and also performances by PLD control and Sliding Mode Control is compared.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.2 no.2
• /
• pp.109-114
• /
• 2002

Various inverted pendulum systems have been frequently used as a model for the performance test of the proposed control system. We first identify a rotary-type inverted pendulum system by the Euler-Lagrange method and then design a FLC (Fuzzy Logic Controller) fur the plant. FLC`s are one of useful control schemes fur plants having difficulties in deriving mathematical models or having performance limitations with conventional linear control schemes. Many FLC`s imitate the concept of conventional PD (Proportional-Derivative) or PI (Proportional-Integral) controller. That is, the error e and the change-of-error are used as antecedent variables and the control input u the change of control input Au is used as its consequent variable for FLC`s. In this paper we design a simple-structured FLC for the rotary inverted pendulum system. We also perform some computer simulations to examine the tracking performance of the closed-loop system.

• Proceedings of the KIEE Conference
• /
• 2003.11b
• /
• pp.119-122
• /
• 2003

The aim of this paper is to propose a nonlinear controller for a single cart-type inverted pendulum using energy-based control scheme. Using a nonlinear model relating the angular position and velocity to the control input and a nonlinear controller is designed to regulate the angular position and velocity in the presence of input constraints. It is proved that the angular position and velocity converge to zero.

• Proceedings of the Korean Society of Marine Engineers Conference
• /
• 2005.11a
• /
• pp.49-50
• /
• 2005

This paper presents a scheme for state observer-based stabilization control of inverted pendulum systems. The feedback gain matrices of both the state feedback controller and the state observer are obtained by a real-coded genetic algorithm(RCGA) such that the given performances indices are minimized.

• Proceedings of the IEEK Conference
• /
• 2002.06e
• /
• pp.5-8
• /
• 2002

In this paper, we applied a PC interface and an embedded system in order to design a non-linear system and implement the PID algorithm as our control one. We used the inverted pendulum, one of the most generally used non-linear system models, to control uncertain factors in the environment. This paper showed how to use this non-linear system model to control the factors completely as well as to understand the PID algorithm. Furthermore, this paper applied and understood the embedded system.

• Proceedings of the KIEE Conference
• /
• 2007.10a
• /
• pp.133-134
• /
• 2007

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.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2012.05a
• /
• pp.529-532
• /
• 2012

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test robust algorithm for sweeping machine. The balancing of an inverted pendulum by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1997.10a
• /
• pp.45-49
• /
• 1997

In this paper, we controlled a Rotary Inverted Pendulum System using Neuro-Fuzzy Controller(NFC). The inverted pendulum system is widely used as a typical example of an unstable nonlinear control system which is difficult to control. Fuzzy theory have been because membership functions and rules of a fuzzy controller are often given by experts or a fuzzy logic control system. This controller is a feedforward multilayered network which integrates the basic elements and functions of a tradtional fuzzy logic controller into a connectionist structure which has distributed learning abilities. Such NFC can be constructed from training examples by learning rule, and the structure can be trained to develop fuzzy logic rules and find optimal input/output membership functions. Using this controller, we presented the results that controlled a Rotary Inverted Pendulum System and the associated algorithms.

• Proceedings of the KIEE Conference
• /
• 1998.07b
• /
• pp.684-686
• /
• 1998

This paper consider fuzzy control of a single-inverted pendulum attached to the tip end of a rotating arm driven by a direct driven motor. Control objectives stabilization of the pendulum at the upright position and regulation of the arm at an arbitrary specified position. Fuzzy control is an effective method to achieve multiple control objectives in control of nonlinear systems. In this paper, fuzzy logic control is proposed to obtain increased control performance and stability.

• Proceedings of the KIEE Conference
• /
• 1997.11a
• /
• pp.83-85
• /
• 1997

In this paper, a self-tunning fuzzy inference technique for stabilization of the inverted pendulum system is proposed. The facility of this self-tunning fuzzy controller which has swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitrary position, to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point(${\phi}_{VEq}$) which describes functionally considers the interactive dynamics between a position of cart and a angle of inverted pendulum is introduced. And comparing with the convention optimal controller, the proposed self-tunning fuzzy inference structure made substantially the inverted pendulum system robust and stable.