Motion control of an inverted pendulum via final-state control

被引:2
作者
Nishimura, H [1 ]
机构
[1] Chiba Univ, Dept Elect & Mech Engn, Inage Ku, Chiba 2638522, Japan
来源
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING | 2000年 / 43卷 / 03期
关键词
motion control; learning control; optimal control; final-state control; input constraint; linear parameter-varying system; inverted pendulum;
D O I
10.1299/jsmec.43.625
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
In this paper, the author proposes a control method that can bring a system to an arbitrary final state even if the input is already saturated, by adopting a hyperbolic tangential function that describes the input limitation. Furthermore, by using the derivative of the function, the obtained input becomes continuous at terminal points of an initial time and a final time. This formulation of the input limitation can be described by a linear parameter-dependent system and the final-state control with error learning can be applied to the system. The effectiveness of this method is verified by carrying out both simulations and experiments of the swing-up motion control of a cart and inverted pendulum system, whose cart displacement is limited. This method does not require precise determination of the final time and dan generate a continuous, smooth, feedforward control input when the output of the actuator is limited.
引用
收藏
页码:625 / 631
页数:7
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