著者

桜間 一徳 原 聡司 中野 和司

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society (ISSN:03854221)

巻号頁・発行日

vol.126, no.5, pp.617-623, 2006-05-01

被引用文献数

2 1

---

This paper addresses a swing-up and stabilization problem of a cart-pendulum system using energy control and controlled Lagrangian methods. A common strategy for this problem is to switch two controllers for swing-up and stabilization according to the angle of the pendulum. In most cases, control performance greatly depends on the switching angle, and choice of a bad angle cannot even stand the pendulum upward. Thus, a lot of trial and error is necessary to find effective switching angles. To release us from the difficulty in choosing the switching angle, this paper proposes a robust control method to assist our choice based on controlled Lagrangian and energy control methods. Experimental results demonstrate that the proposed combination methods can effectively swing up and stabilize the pendulum, whereas existing methods cannot.