Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering · 1992 · 258 citations · 7 references
EngineeringMechanical EngineeringRobotics EngineeringOptimizationRobot ControlRoboticsControl SystemsControl TheoryFeedback ControlFeedforward ControlOptimal ControlRobust ControlBang-bang ControlOptimal Control Of Nonlinear SystemsPendulum MotionRobust Optimal ControlState Feedback ControlState Space ExplorationState-space StructureSwing-up Control
Swing-up control, that is the transfer of a pendulum from a pendant state to the inverted one, is a good laboratory experiment of optimal control theory for non-linear control systems. The optimal control can be determined by the maximum principle and obtained as a function of time. Since the control is, however, determined in a feedforward fashion, the control is not robust to disturbances and uncertainties of the system, and the transfer of the state of the pendulum is not assured. In the paper, a robust swing-up control using a subspace projected from the whole state space is proposed. Based on the projected state space or pseudo-state, the control input is determined depending on the partitioning of the state as a bang-bang type control. The control algorithm is applied for a new type of pendulum (TI Tech pendulum), and the effectiveness and robustness of the proposed control are examined by experiments.
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