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A new controller for the inverted pendulum on a cart

 

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Acceso restringido A new controller for the inverted pendulum on a cart
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Author: Gordillo, F.
Aracil, J.
Department: Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática
Date: 2008
Published in: International Journal of Robust and Nonlinear Control, 18(17), 1607-1621
Document type: Article
Abstract: This paper presents a complete solution to the problem of swinging-up and stabilization of the inverted pendulum on a cart, with a single control law. The resulting law has two parts: first, an energy-shaping law is able to swing and maintain the pendulum up. Then, the second part introduces additional control to stop the cart and it is based on forwarding control with bounded input. The resulting control law is the sum of both parts and does not commute between different laws although there exist switches inside the controller.
Cite: Gordillo, F. y Aracil, J. (2008). A new controller for the inverted pendulum on a cart. International Journal of Robust and Nonlinear Control, 18 (17), 1607-1621.
Size: 1.560Mb
Format: PDF

URI: http://hdl.handle.net/11441/23513

DOI: 10.1002/rnc.1300

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