INTEGRATED DESIGN OF STRUCTURE/CONTROLLER FOR PARALLEL INVERTED PENDULUM SYSTEMS

Chiharu Ishii, Shigehiko Yamamoto, Hiroshi Hashimoto

Abstract

An integrated design of structure/controller for parallel inverted pendulum systems is presented. In practical parallel inverted pendulum systems, existence of a realizable stabilizing controller is inevitably determined depending on the position of center of gravity of two pendulums. In this paper these parameters are set as structural parameters in structural systems and a descriptor form representation is used to express the dynamics of parallel inverted pendulum systems. A state feedback gain and structural parameters are determined based on a design of linear quadratic regulator (LQR), in which a generalized Ricatti equation in LQR problem for the descriptor form representation is reduced to LMI conditions. Main contribution of this paper is to give a method to determine the position of center of gravity of two pendulums for parallel inverted pendulum systems in a sense of suitable for control. Based on the obtained structural parameters, some experimental works are executed. Experimental results show the effectiveness of the proposed design method.

References

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Paper Citation


in Harvard Style

Ishii C., Yamamoto S. and Hashimoto H. (2004). INTEGRATED DESIGN OF STRUCTURE/CONTROLLER FOR PARALLEL INVERTED PENDULUM SYSTEMS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 972-8865-12-0, pages 108-113. DOI: 10.5220/0001134601080113


in Bibtex Style

@conference{icinco04,
author={Chiharu Ishii and Shigehiko Yamamoto and Hiroshi Hashimoto},
title={INTEGRATED DESIGN OF STRUCTURE/CONTROLLER FOR PARALLEL INVERTED PENDULUM SYSTEMS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2004},
pages={108-113},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001134601080113},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - INTEGRATED DESIGN OF STRUCTURE/CONTROLLER FOR PARALLEL INVERTED PENDULUM SYSTEMS
SN - 972-8865-12-0
AU - Ishii C.
AU - Yamamoto S.
AU - Hashimoto H.
PY - 2004
SP - 108
EP - 113
DO - 10.5220/0001134601080113