Swing-up and stabilization control of twin furuta pendulums by energy control

This paper gives a realization of a swinging up and stabilizing control for a twin furuta pendulums. The twin furuta pendulums has two inverted pendulums which placed at direct drive motor. A control method is a switching of stabilization control and swing-up control. A LQ optimal control is used fo...

Full description

Saved in:
Bibliographic Details
Published inIECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society pp. 2878 - 2883
Main Authors Fujita, Yuuki, Izutsu, Masaki, Hatakeyama, Shoshiro
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2014
Subjects
Controllability
Equations
Erbium
Mathematical model
Matrix decomposition
Switches
Online AccessGet full text

Cover

More Information
Summary:This paper gives a realization of a swinging up and stabilizing control for a twin furuta pendulums. The twin furuta pendulums has two inverted pendulums which placed at direct drive motor. A control method is a switching of stabilization control and swing-up control. A LQ optimal control is used for stabilization of the pendulums in the neighborhood of upright positions. The effectiveness of the energy control was showed by experimental result. Then, we analyze that the two pendulums simultaneous go to the neighborhood of upright positions. Further, the mechanical structure is evaluated based on the natural angular frequency of each pendulum length and the condition number of controllability matrix of the linearized twin furuta pendulums.
ISSN:1553-572X
DOI:10.1109/IECON.2014.7048917