Authors:
Meta Tum
;
Giyeong Gyeong
;
Jae Heon Park
and
Young Sam Lee
Affiliation:
Inha University, Korea, Republic of
Keyword(s):
Cart Inverted Pendulum, Boundary Value Problem, Nonlinear Feedforward Control, Input and Output Constraints, Linear Feedback Control.
Related
Ontology
Subjects/Areas/Topics:
Computer and Microprocessor-Based Control
;
Informatics in Control, Automation and Robotics
;
Real-Time Systems Control
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
In this paper we propose a new swing-up strategy for a single inverted pendulum. The proposed method has a feature that can handle the limitation of the pendulum-rail length and actuator constraints using both feedforward and feedback control. The feedforward trajectories are generated by solving an optimal control problem having two-point boundary conditions. The limitation of the rail length and the actuator constraints are taken into account in the problem formulation. Feedback control is combined with the feedforward control to compensate the deviation between the desired trajectories and actual trajectories. The experimental results of the proposed strategy show that it has a good swing-up performance while satisfying all the imposed constraints.