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 language | English |
|---|---|
| Title of host publication | 2010 International Conference on Modelling, Identification and Control, ICMIC 2010 |
| Pages | 768-773 |
| Number of pages | 6 |
| Publication status | Published - 2010 |
| Event | 2010 International Conference on Modelling, Identification and Control, ICMIC 2010 - Okayama, Japan Duration: Jul 17 2010 → Jul 19 2010 |
Other
| Other | 2010 International Conference on Modelling, Identification and Control, ICMIC 2010 |
|---|---|
| Country | Japan |
| City | Okayama |
| Period | 7/17/10 → 7/19/10 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
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 proceeding › Conference contribution
}
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 -