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Swing-up Control of an Inverted Pendulum with Limited Pivot Travel
Ryosuke Tatsumi,Kiyotsugu Takaba 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a new energy-based control method for swinging up an inverted pendulum under the constraints on pivot travel and control input. For this purpose, we first construct a Lyapunov function which involves the energy of the pendulum as well as the pivot velocity. We then develop a control law which switches the control signals according to the prediction of the pivot travel. The present control law ensures that the Lyapunov function is non-increasing, while fully utilizing the limited pivot travel range without violating the constraints. Simulation and experimental results demonstrate the effectiveness of the present method.