Swing-Up Control by BVP Arithmetic for the Rotational Inverted Pendulum

Zhan Dong Yu; Xian Feng Wang

doi:10.4028/www.scientific.net/AMR.211-212.515

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 211-212Swing-Up Control by BVP Arithmetic for the...

Swing-Up Control by BVP Arithmetic for the Rotational Inverted Pendulum

Abstract:

The swing-up control strategy via BVP arithmetic is presented for rotational inverted pendulum. The swing-up control programming from hanging to the upright position can be transformed into the two-point boundary value problem (BVP) of nonlinear systems. According to the boundary conditions of the swing-up process, the control torque function of Fourier series form with free parameters is constructed. The BVP is solved with the bvp4c function in Matlab toolbox, and the control torque sequence is obtained. The swing-up process is open-loop feedforward control essentially. In order to inhibition parameters perturbation, the closed-loop stabilizing control is designed around the upright position for the inverted double pendulum with unstable zero-dynamics. The simulation of swing-up, stabilizing and switching process illustrates the effectivity of the control strategy.

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Periodical:

Advanced Materials Research (Volumes 211-212)

Pages:

515-519

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.211-212.515

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Online since:

February 2011

Authors:

Zhan Dong Yu, Xian Feng Wang

Keywords:

BVP Arithmetic, Rotational Inverted Pendulum, Swing-Up

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