DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, M. | ko |
dc.contributor.author | Kim, Y.-J. | ko |
dc.contributor.author | Lee, Ju-Jang | ko |
dc.date.accessioned | 2013-03-11T01:03:20Z | - |
dc.date.available | 2013-03-11T01:03:20Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2011-06 | - |
dc.identifier.citation | ARTIFICIAL LIFE AND ROBOTICS, v.16, no.1, pp.94 - 97 | - |
dc.identifier.issn | 1433-5298 | - |
dc.identifier.uri | http://hdl.handle.net/10203/97867 | - |
dc.description.abstract | In this article, we consider the swing-up and linear quadratic regulator (LQR) stabilization of a rotary inverted pendulum. A DC motor rotates a rigid arm. At the end of the rigid arm is a joint with a pendulum suspended from it. Two encoders check the degree of the rigid arm and the pendulum every 0.5 ms. This article describes a modified bang-bang control which swings the pendulum up safely and fast. In order to solve the stabilization problem, we used a linear quadratic regulator. When the user gives a large disturbance to the pendulum so that it loses its position, it quickly recovers to the upright position. Experimental results showed that the proposed bang-bang and LQR controllers can stabilize a rotary inverted pendulum system within 3.0 s from any starting point. The system also showed robustness to a large disturbance. © ISAROB 2011. | - |
dc.language | English | - |
dc.publisher | SPRINGER JAPAN | - |
dc.title | Swing-up and LQR stabilization of a rotary inverted pendulum | - |
dc.type | Article | - |
dc.identifier.scopusid | 2-s2.0-79959634815 | - |
dc.type.rims | ART | - |
dc.citation.volume | 16 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 94 | - |
dc.citation.endingpage | 97 | - |
dc.citation.publicationname | ARTIFICIAL LIFE AND ROBOTICS | - |
dc.identifier.doi | 10.1007/s10015-011-0897-9 | - |
dc.contributor.localauthor | Lee, Ju-Jang | - |
dc.contributor.nonIdAuthor | Park, M. | - |
dc.contributor.nonIdAuthor | Kim, Y.-J. | - |
dc.subject.keywordAuthor | Inverted pendulum | - |
dc.subject.keywordAuthor | Linear quadratic regulator | - |
dc.subject.keywordAuthor | Swing-up | - |
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