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

Yu Sheng Lu, Hua Hsu Chiu, Shu Fen Lien

研究成果: 雜誌貢獻文章

9 引文 斯高帕斯(Scopus)

摘要

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.

原文英語
頁(從 - 到)865-873
頁數9
期刊Journal of Mechanical Science and Technology
27
發行號3
DOIs
出版狀態已發佈 - 2013 四月 1

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

指紋 深入研究「An improved backstepping design for the control of an underactuated inverted pendulum」主題。共同形成了獨特的指紋。

  • 引用此