Practical design and control of a novel inverted pendulum

Yu Sheng Lu, Hua Hsu Chiu, Shu Fen Lien

研究成果: 書貢獻/報告類型會議貢獻

2 引文 (Scopus)

摘要

This paper investigates the design and control of a novel inverted pendulum. First, the structure of the inverted pendulum is presented, and its mathematical model is derived using Euler-Lagrange's equations. Using a transformed model, a nonlinear control scheme is applied to this new inverted pendulum. The non-linear control scheme is based on the well-known backstepping design approach to obtain a nonlinear controller that is suitable for both regulation and tracking tasks. Furthermore, the control scheme is practically implemented and compared in this inverted pendulum system in order to investigate its effectiveness.

原文英語
主出版物標題Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011
頁面235-239
頁數5
出版狀態已發佈 - 2011
事件2011 International Conference on Modelling, Identification and Control, ICMIC 2011 - Shanghai, 中国
持續時間: 2011 六月 262011 六月 29

其他

其他2011 International Conference on Modelling, Identification and Control, ICMIC 2011
國家中国
城市Shanghai
期間11/6/2611/6/29

指紋

Inverted Pendulum
Pendulums
Nonlinear Control
Backstepping Design
Backstepping
Euler-Lagrange Equations
Mathematical Model
Mathematical models
Controller
Controllers
Design
Model

ASJC Scopus subject areas

  • Modelling and Simulation
  • Control and Systems Engineering

引用此文

Lu, Y. S., Chiu, H. H., & Lien, S. F. (2011). Practical design and control of a novel inverted pendulum. 於 Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011 (頁 235-239). [5973707]

Practical design and control of a novel inverted pendulum. / Lu, Yu Sheng; Chiu, Hua Hsu; Lien, Shu Fen.

Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011. 2011. p. 235-239 5973707.

研究成果: 書貢獻/報告類型會議貢獻

Lu, YS, Chiu, HH & Lien, SF 2011, Practical design and control of a novel inverted pendulum. 於 Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011., 5973707, 頁 235-239, 2011 International Conference on Modelling, Identification and Control, ICMIC 2011, Shanghai, 中国, 11/6/26.
Lu YS, Chiu HH, Lien SF. Practical design and control of a novel inverted pendulum. 於 Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011. 2011. p. 235-239. 5973707
Lu, Yu Sheng ; Chiu, Hua Hsu ; Lien, Shu Fen. / Practical design and control of a novel inverted pendulum. Proceedings of 2011 International Conference on Modelling, Identification and Control, ICMIC 2011. 2011. 頁 235-239
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