Swing-up controller design for inverted pendulum by using energy control method based on Lyapunov function

Tomohide Maeba, Mingcong Deng, Akira Yanou, Tomohiro Henmi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

The purpose of this paper is swing-up control of a cart-type single inverted pendulum by using energy control method based on Lyapunov function. Energy control method is one of the effective control methods for under-actuated system, and some examples of applying energy control method based on Lyapunov function to swing-up control of inverted pendulum systems have been reported. This paper focuses on Lyapunov function used in energy control method. In conventional researches, the possibility that the value of Lyapunov function becomes zero excluding the upright position has not been considered. In order to design the controller with considering this possibility, three new Lyapunov functions are created, and controllers are designed for each function. Swing-up control of the pendulum is done by switching these three controllers. In addition, numerical simulation is conducted to verify the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2010 International Conference on Modelling, Identification and Control, ICMIC 2010
Pages768-773
Number of pages6
Publication statusPublished - 2010
Event2010 International Conference on Modelling, Identification and Control, ICMIC 2010 - Okayama, Japan
Duration: Jul 17 2010Jul 19 2010

Other

Other2010 International Conference on Modelling, Identification and Control, ICMIC 2010
CountryJapan
CityOkayama
Period7/17/107/19/10

Fingerprint

Lyapunov functions
Pendulums
Power control
Controllers
Computer simulation

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Maeba, T., Deng, M., Yanou, A., & Henmi, T. (2010). Swing-up controller design for inverted pendulum by using energy control method based on Lyapunov function. In 2010 International Conference on Modelling, Identification and Control, ICMIC 2010 (pp. 768-773). [5553467]

Swing-up controller design for inverted pendulum by using energy control method based on Lyapunov function. / Maeba, Tomohide; Deng, Mingcong; Yanou, Akira; Henmi, Tomohiro.

2010 International Conference on Modelling, Identification and Control, ICMIC 2010. 2010. p. 768-773 5553467.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Maeba, T, Deng, M, Yanou, A & Henmi, T 2010, Swing-up controller design for inverted pendulum by using energy control method based on Lyapunov function. in 2010 International Conference on Modelling, Identification and Control, ICMIC 2010., 5553467, pp. 768-773, 2010 International Conference on Modelling, Identification and Control, ICMIC 2010, Okayama, Japan, 7/17/10.
Maeba T, Deng M, Yanou A, Henmi T. Swing-up controller design for inverted pendulum by using energy control method based on Lyapunov function. In 2010 International Conference on Modelling, Identification and Control, ICMIC 2010. 2010. p. 768-773. 5553467
Maeba, Tomohide ; Deng, Mingcong ; Yanou, Akira ; Henmi, Tomohiro. / Swing-up controller design for inverted pendulum by using energy control method based on Lyapunov function. 2010 International Conference on Modelling, Identification and Control, ICMIC 2010. 2010. pp. 768-773
@inproceedings{e1c9e402eda44de591e8343647406baa,
title = "Swing-up controller design for inverted pendulum by using energy control method based on Lyapunov function",
abstract = "The purpose of this paper is swing-up control of a cart-type single inverted pendulum by using energy control method based on Lyapunov function. Energy control method is one of the effective control methods for under-actuated system, and some examples of applying energy control method based on Lyapunov function to swing-up control of inverted pendulum systems have been reported. This paper focuses on Lyapunov function used in energy control method. In conventional researches, the possibility that the value of Lyapunov function becomes zero excluding the upright position has not been considered. In order to design the controller with considering this possibility, three new Lyapunov functions are created, and controllers are designed for each function. Swing-up control of the pendulum is done by switching these three controllers. In addition, numerical simulation is conducted to verify the effectiveness of the proposed method.",
author = "Tomohide Maeba and Mingcong Deng and Akira Yanou and Tomohiro Henmi",
year = "2010",
language = "English",
isbn = "9780955529337",
pages = "768--773",
booktitle = "2010 International Conference on Modelling, Identification and Control, ICMIC 2010",

}

TY - GEN

T1 - Swing-up controller design for inverted pendulum by using energy control method based on Lyapunov function

AU - Maeba, Tomohide

AU - Deng, Mingcong

AU - Yanou, Akira

AU - Henmi, Tomohiro

PY - 2010

Y1 - 2010

N2 - The purpose of this paper is swing-up control of a cart-type single inverted pendulum by using energy control method based on Lyapunov function. Energy control method is one of the effective control methods for under-actuated system, and some examples of applying energy control method based on Lyapunov function to swing-up control of inverted pendulum systems have been reported. This paper focuses on Lyapunov function used in energy control method. In conventional researches, the possibility that the value of Lyapunov function becomes zero excluding the upright position has not been considered. In order to design the controller with considering this possibility, three new Lyapunov functions are created, and controllers are designed for each function. Swing-up control of the pendulum is done by switching these three controllers. In addition, numerical simulation is conducted to verify the effectiveness of the proposed method.

AB - The purpose of this paper is swing-up control of a cart-type single inverted pendulum by using energy control method based on Lyapunov function. Energy control method is one of the effective control methods for under-actuated system, and some examples of applying energy control method based on Lyapunov function to swing-up control of inverted pendulum systems have been reported. This paper focuses on Lyapunov function used in energy control method. In conventional researches, the possibility that the value of Lyapunov function becomes zero excluding the upright position has not been considered. In order to design the controller with considering this possibility, three new Lyapunov functions are created, and controllers are designed for each function. Swing-up control of the pendulum is done by switching these three controllers. In addition, numerical simulation is conducted to verify the effectiveness of the proposed method.

UR - http://www.scopus.com/inward/record.url?scp=77957843645&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77957843645&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:77957843645

SN - 9780955529337

SP - 768

EP - 773

BT - 2010 International Conference on Modelling, Identification and Control, ICMIC 2010

ER -