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

Hiroyuki Kajiwara, Pierre Apkarian, Pascal Gahinet

研究成果: Contribution to conferencePaper査読

2 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ1853-1865
ページ数13
DOI
出版ステータス出版済み - 1998
イベントGuidance, Navigation, and Control Conference and Exhibit, 1998 - Boston, 米国
継続期間: 8 10 19988 12 1998

その他

その他Guidance, Navigation, and Control Conference and Exhibit, 1998
国/地域米国
CityBoston
Period8/10/988/12/98

All Science Journal Classification (ASJC) codes

  • 電子工学および電気工学
  • 航空宇宙工学
  • 制御およびシステム工学

フィンガープリント

「Wide-range stabilization of an arm-driven inverted pendulum using linear parameter-varying techniques」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル