A new discrete mechanics approach to swing-up control of the cart-pendulum system |
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| Institution: | 1. Tokyo University of Science, Tokyo, Japan;2. Fujitsu Limited, Tokyo, Japan;1. College of Mathematics and Statistics, Hubei Normal University, Huangshi 435002, China;2. School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China;3. Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China, Wuhan 430074, China;1. School of Electronic and Information Engineering, Southwest University, Chongqing 400715, China;2. College of Computer Science, Chongqing University, Chongqing 400044, China;1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, PR China;2. School of Mathematical Sciences, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, PR China;3. Key Laboratory for Neuroinformation of Ministry of Education, University of Electronic Science and Technology of China, Chengdu, Sichuan 611731, PR China |
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| Abstract: | This paper develops a new swing-up control method for the cart-pendulum system via discrete mechanics. The swing-up control law consists of two parts: the swing-up stage and the stabilization one. In the swing-up stage, we use a controller based on a discrete Lyapunov function and it can swing up the pendulum. Then, in the stabilization stage, we utilize a stabilizing controller based on the linearized system and discrete-time optimal regulator theory. In addition, transformation methods from discrete control inputs into continuous zero-order hold inputs are introduced. From some simulation results, we can confirm that the cart-pendulum system is swung up and stabilized by our new method. |
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| Keywords: | Cart-pendulum system Discrete mechanics Swing-up control Stabilization Solvability analysis Zero-order hold input |
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