Wide-range stabilization of an arm-driven inverted pendulum using linear parameter-varying techniques

Hiroyuki Kajiwara, Pierre Apkarian, Pascal Gahinet

Research output: Contribution to conferencePaper

Abstract

The purpose of the paper is to demonstrate the ability of LPV (Linear Parameter Varying) control techniques to handle difficult nonlinear control problems. The focus in this paper is on the wide range stabilization of an arm-driven inverted pendulum. Two different LPV control techniques are used to design nonlinear controllers that achieve stabilization of the pendulum over the maximum range of operating conditions while providing time- and frequency-domain performances. The merits of each of these techniques are investigated and the improvements over more classical LTI (Linear Time-Invariant) control schemes such as H or μ controllers are discussed. A particular emphasis is put on the real-time implementation of these controllers for the inverted pendulum experiment. It is shown that suitable multi-objective extensions of the standard characterization of LPV controllers allow to cope with sampling rate implementation constraints. Finally, a complete validation of the proposed LPV controller structures is carried out through a set of realistic nonlinear simulations but also by means of physical experiment records.

Original languageEnglish
Pages1853-1865
Number of pages13
Publication statusPublished - Jan 1 1998
EventGuidance, Navigation, and Control Conference and Exhibit, 1998 - Boston, United States
Duration: Aug 10 1998Aug 12 1998

Other

OtherGuidance, Navigation, and Control Conference and Exhibit, 1998
CountryUnited States
CityBoston
Period8/10/988/12/98

Fingerprint

Pendulums
Stabilization
Controllers
Experiments
Sampling

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kajiwara, H., Apkarian, P., & Gahinet, P. (1998). Wide-range stabilization of an arm-driven inverted pendulum using linear parameter-varying techniques. 1853-1865. Paper presented at Guidance, Navigation, and Control Conference and Exhibit, 1998, Boston, United States.

Wide-range stabilization of an arm-driven inverted pendulum using linear parameter-varying techniques. / Kajiwara, Hiroyuki; Apkarian, Pierre; Gahinet, Pascal.

1998. 1853-1865 Paper presented at Guidance, Navigation, and Control Conference and Exhibit, 1998, Boston, United States.

Research output: Contribution to conferencePaper

Kajiwara, H, Apkarian, P & Gahinet, P 1998, 'Wide-range stabilization of an arm-driven inverted pendulum using linear parameter-varying techniques' Paper presented at Guidance, Navigation, and Control Conference and Exhibit, 1998, Boston, United States, 8/10/98 - 8/12/98, pp. 1853-1865.
Kajiwara H, Apkarian P, Gahinet P. Wide-range stabilization of an arm-driven inverted pendulum using linear parameter-varying techniques. 1998. Paper presented at Guidance, Navigation, and Control Conference and Exhibit, 1998, Boston, United States.
Kajiwara, Hiroyuki ; Apkarian, Pierre ; Gahinet, Pascal. / Wide-range stabilization of an arm-driven inverted pendulum using linear parameter-varying techniques. Paper presented at Guidance, Navigation, and Control Conference and Exhibit, 1998, Boston, United States.13 p.
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