This paper presents an output feedback control design to stabilize the inverted pendulum at the upright equilibrium as an extension of our previous work . Compared to our previous work, we add one more time scale between a pendulum angle and angular velocity to reduce a traveled distance of the cart. State feedback control is designed to enable the pendulum to pass through input singularity configurations. Extended High-Gain Observers are used to estimate velocity and acceleration terms while dynamic inversion utilizes the estimates to deal with input coefficient uncertainties and singularity configurations. The proposed control is verified through numerical simulations.
- Dynamic Systems and Control Division
Stabilization of Inverted Pendulum on a Cart in the Presence of Uncertainties
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Lee, J, & Choi, J. "Stabilization of Inverted Pendulum on a Cart in the Presence of Uncertainties." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T48A002. ASME. https://doi.org/10.1115/DSCC2015-9975
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