Stabilization of a 2-DOF spherical pendulum on X-Y table

Abstract

In this paper, a 2-DOF spherical pendulum system is constructed and balanced on a X-Y table. The pendulum is projected onto the x-z and y-z planes, which are parallel to the two motion directions of the X-Y table. These projections are treated independently to each other and are controlled separately. The stabilization control for a 1D inverted pendulum is proposed based on the state space approach and the Lie theoretic tools without resorting any direct approximation to each nonlinear term. A specially developed sensor system allows the contactless measurement of the inclination angles of the pendulum. The experimental results are reported.