• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.79-81
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• 2004

LQ-Servo controller inherits the stability-robustness from rational LQR structure and also, satisfies performance-robustness that is lacking in LQR structure by importing partial output feedback. In this paper, LQ-Servo controller is suggested for strengthening the performance-robustness. For this, Several executings are effectively performed by implementing to the rotational inverted pendulum system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.11a
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• pp.323-326
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• 2006

Rotational inverted pendulum is a typical under-actuated system. For its highly nonlinear characteristic, a sliding mode controller is chosen for its robustness against the system uncertainties. Tow fuzzy inference mechanisms are applied in this paper to reduce the chattering phenomenon. One is proposed to construct a time-varying sliding surface. Another one is used to obtain the minimum upper bound of the uncertainties. A comparison between the conventional sliding mode and the fuzzy sliding mode is shown by simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.371-371
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• 2000

A strategy for the swing-up control according to states of the 2-link rotational pendulum is proposed. The proposed controller consists of two modes of control such as divergence mode and stabilization mode. When the controller is in divergence mode, control input is generated using sinusoidal and signum function to make the first and second links reach the bottom and top positions, respectively. After the controller finishes divergence mode, stabilization mode is initiated to keep the pendulum around the top position using pole-placement method. Dynamic models including actuator dynamics are obtained using coordinate changes at each control mode. Simulation results are given to show the effectiveness of the proposed method.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2467-2469
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• 2001

A strategy for the swing-up and stabilization control method for a two-links rotational pendulum according to states of each link of the rotational pendulum is proposed. The proposed controller consists of two modes of control such as divergence mode and stabilization mode. When the controller is in divergence mode, control input is generated using sinusoidal function, which is developed based on resonance period of the pendulum in linear region, to make the second link (pendulum) reach top position. After the controller finishes operation in divergence mode, stabilization control is initiated to keep the pendulum around the top position using pole placement control method. Experimental results are given to show the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1901-1905
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• 2004

A controller designed by CDM for a servo type system which is an augmented system constructed from a rotational inverted pendulum with an integrator added to its arm, is presented in this paper. In order to be able to apply the CDM concept, the augmented system must be linearized and converted into controllable canonical form. Then, the controller consisting of the state feedback gain matrix and an integral gain in the sense of CDM can be obtained. This shows that design procedure for the proposed controller is easy. The experimental results obtained from the rotational inverted pendulum controlled by the proposed controller show that the system response has no steady-state error, however, the oscillation amplitude of the arm angle is still significant. Therefore, in this paper, the friction compensation using Coulomb friction with stiction is also added to the controller. The oscillation amplitude of the arm angle that can be reduced remarkably is also shown in the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.772-775
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• 1989

It is difficult to obtain a swinging-up control sequence of a one-link pendulum analytically or numerically. In this paper, we obtain a proper control sequence through manual control experiments. However, no proper control sequence will be obtained if the rotational velocity of the pendulum is fast for the human operator. To overcome such a disadvantage, we propose a method for training the operator by using a pendulum simulator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.2
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• pp.243-253
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• 2002

This paper presents the system modeling, analysis, and controller design and implementation for a rotational inverted pendulum system(RIPS), which is an under-actuated system and has the problem of unattainable angular velocity state. A sliding mode controller using the parameterization of both the hyperplane and the compensator fur output feedback is applied to the RIPS. Also, to improve the performance of the control system, a disturbance observer which estimates the disturbance, parameter variation, and some modeling errors of RIPS with less computational effort is used together. The results of simulation and experiment show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions.

• Journal of Mechanical Science and Technology
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• v.17 no.10
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• pp.1466-1474
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• 2003

This paper presents a system modeling, controller design and implementation for a rotational inverted pendulum system (RIPS), which is an under-actuated system and has the problem of unattainable velocity state. Two control strategies are applied to the RIPS. One is a sliding mode control method using the parameterization of both the hyperplane and the compensator for output feedback. The other is the disturbance observer which estimates disturbance and some modeling errors of RIPS with less computational effort. Some simulations and various kinds of experiments are performed in order to verify that the proposed controller has the ability to control RIPS whose velocity is assumed to be unavailable. The results of the simulations and experiments show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions as well as the robustness to model uncertainties.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2116-2119
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• 2005

Inverted pendulum is a classical example and a famous tool for testing the effectiveness of many control schemes. Owing to their nonlinearity and unstable characteristic, a controller development either for swinging-up or stabilizing its upright position had been a great interest of many researchers. In this paper, the swinging-up control of the inverted pendulum using energy control will be presented. However, the saturation function in its control law could harm the experimental equipments. In addition, this swinging-up method did not consider limited sector of the arm angle to avoid another hazard, for instance, the twisted cable in the apparatus. Therefore, in this paper the position control of the arm angle using simple PD control in accordance with the energy control is proposed. Consequently, the limited arm sector angle can be achieved and the saturation function can also be replaced effectively by the PD control.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.464-464
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• 2000