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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2014.8
- 수록면
- 835 - 841 (7page)
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초록· 키워드
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In this paper we propose a swing-up strategy for a single inverted pendulum. The proposed method has a feature whereby can handle the input and output constraint of a pendulum in a systematic way. For the swing-up of a pendulum, we adopt a 2-DOF control structure that combines the feedforward and feedback control. In order to generate the swing-up feedforward trajectories that satisfy the input and output constraint, we formulate the problem of generating feedforward trajectories as a nonlinear optimal control problem subject to constraints. We illustrate that the proposed method is more flexible than the existing method and provides great freedom in choosing the actuator of the inverted pendulum. Through an experiment, we show that the proposed method can swing a pendulum upward effectively while satisfying all the imposed constraints.
목차
Abstract
I. 서론
II. 문제설정
III. 피드포워드 궤적의 생성
IV. 모델계수 추정 및 피드백제어기 설계
V. 스윙업 제어 실험
VI. 결론
REFERENCES
참고문헌 (13)
참고문헌 신청
1. [학술지(정기간행물)] - K. Åström / 2000 / Swinging up a pendulum by energy control / Automatica 36 (2) : 287 ~ 295
2. [학술지(정기간행물)] - D. Chatterjee / 2002 / Swing-up and stabilization of a cart-pendulum system under re-stricted cart track length / Systems & Control Letters 47 : 355 ~ 364
3. [학술지(정기간행물)] - K. Furuta / 1992 / Swing-up control of inverted pendulum using pseudo-state feed-back / Journal of System and Control Engineering 206 : 263 ~ 269
4. [학술지(정기간행물)] - K. Graichen / 2007 / Swing up of the double pendulum on a cart by feedforward and feedback control with experimental validation / Automatica 43 : 63 ~ 71
5. [단행본] - D. E. Kirk / 1970 / Optimal Control Theory : An Introduction / Prentice Hall
2. [학술지(정기간행물)] - D. Chatterjee / 2002 / Swing-up and stabilization of a cart-pendulum system under re-stricted cart track length / Systems & Control Letters 47 : 355 ~ 364
3. [학술지(정기간행물)] - K. Furuta / 1992 / Swing-up control of inverted pendulum using pseudo-state feed-back / Journal of System and Control Engineering 206 : 263 ~ 269
4. [학술지(정기간행물)] - K. Graichen / 2007 / Swing up of the double pendulum on a cart by feedforward and feedback control with experimental validation / Automatica 43 : 63 ~ 71
5. [단행본] - D. E. Kirk / 1970 / Optimal Control Theory : An Introduction / Prentice Hall
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UCI(KEPA) : I410-ECN-0101-2015-560-002491390