An improved backstepping design for the control of an underactuated inverted pendulum

Yu Sheng Lu; Hua Hsu Chiu; Shu Fen Lien

doi:10.1007/s12206-013-0203-y

An improved backstepping design for the control of an underactuated inverted pendulum

Yu Sheng Lu^*, Hua Hsu Chiu, Shu Fen Lien

^*Corresponding author for this work

Department of Mechatronic Engineering

Research output: Contribution to journal › Article › peer-review

10 Citations (Scopus)

Abstract

This paper presents an improved backstepping design (IBD) for the control of a new type of underactuated inverted pendulum. The characteristics and possible applications of the inverted pendulum are presented. Nonlinear models and a linearized model are given for a straightforward explanation of its dynamic features. The conventional backstepping design (CBD) is revisited for this plant. The IBD is then used to reduce the complexity of the design and to allow the specification of transient characteristics, to improve the system's performance. Experimental studies are conducted to investigate the effectiveness of the proposed scheme.

Original language	English
Pages (from-to)	865-873
Number of pages	9
Journal	Journal of Mechanical Science and Technology
Volume	27
Issue number	3
DOIs	https://doi.org/10.1007/s12206-013-0203-y
Publication status	Published - 2013 Mar

Keywords

Backstepping design
Control system
Inverted pendulum
Underactuated system

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

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10.1007/s12206-013-0203-y

Cite this

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title = "An improved backstepping design for the control of an underactuated inverted pendulum",

abstract = "This paper presents an improved backstepping design (IBD) for the control of a new type of underactuated inverted pendulum. The characteristics and possible applications of the inverted pendulum are presented. Nonlinear models and a linearized model are given for a straightforward explanation of its dynamic features. The conventional backstepping design (CBD) is revisited for this plant. The IBD is then used to reduce the complexity of the design and to allow the specification of transient characteristics, to improve the system's performance. Experimental studies are conducted to investigate the effectiveness of the proposed scheme.",

keywords = "Backstepping design, Control system, Inverted pendulum, Underactuated system",

author = "Lu, {Yu Sheng} and Chiu, {Hua Hsu} and Lien, {Shu Fen}",

note = "Funding Information: This work was partially supported by the National Science Council of ROC under grant number NSC 100-2628-E-003-001-MY2. The authors would like to thank the editor and anonymous reviewers for improving the quality of this paper.",

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AU - Lu, Yu Sheng

AU - Chiu, Hua Hsu

AU - Lien, Shu Fen

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N2 - This paper presents an improved backstepping design (IBD) for the control of a new type of underactuated inverted pendulum. The characteristics and possible applications of the inverted pendulum are presented. Nonlinear models and a linearized model are given for a straightforward explanation of its dynamic features. The conventional backstepping design (CBD) is revisited for this plant. The IBD is then used to reduce the complexity of the design and to allow the specification of transient characteristics, to improve the system's performance. Experimental studies are conducted to investigate the effectiveness of the proposed scheme.

AB - This paper presents an improved backstepping design (IBD) for the control of a new type of underactuated inverted pendulum. The characteristics and possible applications of the inverted pendulum are presented. Nonlinear models and a linearized model are given for a straightforward explanation of its dynamic features. The conventional backstepping design (CBD) is revisited for this plant. The IBD is then used to reduce the complexity of the design and to allow the specification of transient characteristics, to improve the system's performance. Experimental studies are conducted to investigate the effectiveness of the proposed scheme.

KW - Backstepping design

KW - Control system

KW - Inverted pendulum

KW - Underactuated system

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An improved backstepping design for the control of an underactuated inverted pendulum

Abstract

Keywords

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