STABILISATION OF THE INVERSE PENDULUM ON A CART BASED ON A SEARCH METHOD

Adina BĂLAN, Alin PLEŞA, Radu DONCA, Mihai DRĂGHICI, Vistrian MĂTIEŞ

Abstract


Inverse pendulum on a cart is usually used to illustrate control methods for unstable nonlinear processes. The pendulum is attached to a cart that can move in a horizontal plane by a pivot. As a result of the cart movement, the pendulum will begin to rotate around the fulcrum. Using an adequate motion control system for the cart, the pendulum can be raised in superior vertical unstable position. There are two essential stages in the control of this nonlinear process: initial pendulum raising phase and final stabilization in vertical superior instable position. A common approach for the final phase is state space control. This paper presents a method for calculating the control law for the final phase, law whose parameters are obtained by a search process in the space of possible solutions.         

 

Key words: Inverse pendulum on a cart, modeling, simulations, state space control, search algorithms.

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References


K. J. Åström, K. Furuta, Swinging up a pendulum by energy control, IFAC 13th World Congress, San Francisco, California, 1996, pp 37-42

G. Kerschena, K.Wordenb, A. F. Vakakisc, J.C. Golinval, Past, present and future of nonlinear system identification in structural dynamics, Mechanical Sys-tems and Signal Processing 20 (2006) 505–592

http://en.wikipedia.org/wiki/Inverted_pendulum

http://www.control.isy.liu.se/student/tsrt15/file/invpendpmenglish.pdf

http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=ControlStateSpace


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