论文信息 - Swing-up control of inverted pendulum by periodic input

Swing-up control of inverted pendulum by periodic input

Abstract In this paper, the swing-up control of a 1-link pendulum with the sinusoidally excited pivot is studied from a viewpoint of energy. The amplitude of the periodic signal is used as the control input, and is manipulated so that the energy of the pendulum is equal to the potential energy at the up-right position. Numerical simulation confirms the validity of the proposed method.

Katsuhisa Furuta | Satoshi Suzuki | Shoshiro Hatakeyama | A. Sugiki | Toshiaki Takahashi

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