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Inverted Pendulum System Control by Using Modified Iterative Learning Control

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Intelligent Robotics and Applications (ICIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5928))

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Abstract

The inverted pendulum is a typical multi-variable and non-linear system. It is hard to improve its performance because of modeling difficulty, parametric uncertainties during actual system operation. Iterative Learning Control (ILC) can achieve perfect tracking or performance when there is model uncertainty or when we have a “blind” system. This paper proposed a modified iterative learning control method to improve the dynamics of the car with an inverted pendulum. Experiment results demonstrated that the proposed method can improve the dynamic performance of the car with an inverted pendulum.

This work was supported by National Natural Science Foundation of China No. 60835001.

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Author information

Authors and Affiliations

  1. Engineering Research Center for Precision, Electronic Manufacturing Equipments of Ministry of Education, College of Automation, South China University of Technology, Guangzhou, China

    Hongxia Gao, Qian Mai & Yueming Hu

  2. Central Zone, Science & Technology Park, South Building, No.5 Keyuan Road, Nanshan District, Shenzhen, Guangdong, P.R. China

    Yun Lu

Authors
  1. Hongxia Gao
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  2. Yun Lu
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  3. Qian Mai
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  4. Yueming Hu
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Editor information

Editors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Nanyang Technological University, 639798, Singapore

    Ming Xie

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P. R. China

    Youlun Xiong

  3. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, P.R. China

    Caihua Xiong

  4. Institute of Industrial Research, University of Portsmouth, PO1 3QL, Portsmouth, UK

    Honghai Liu

  5. Department of Computer Science and Electrical Engineering, Kumamoto University, 860-8555, Kumamoto, Japan

    Zhencheng Hu

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© 2009 Springer-Verlag Berlin Heidelberg

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Gao, H., Lu, Y., Mai, Q., Hu, Y. (2009). Inverted Pendulum System Control by Using Modified Iterative Learning Control. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_123

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  • DOI: https://doi.org/10.1007/978-3-642-10817-4_123

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-10816-7

  • Online ISBN: 978-3-642-10817-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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