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Stabilization of The Triple Spherical Inverted Pendulum – A Simultaneous Design Approach
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September 25, 2009
This paper describes the stabilizing control of a triple spherical pendulum around its upright position using a planer manipulator and a vision sensor. The control problem is especially difficult because of the controller limitation such as the low sampling rate of the vision system. To achieve the stabilization, the authors simultaneously design the pendulum structure and the controller. This gives better optimization result than that of designing only the controller for a given pendulum. The effectiveness of the proposed approach has been confirmed through experiments.
Published Online: 2009-09-25
Published in Print: 2000-12
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Articles in the same Issue
- Objektorientierte Modellierung Physikalischer Systeme, Teil 17 (Object-Oriented Modeling of Physical Systems, Part 17)
- Stabilization of The Triple Spherical Inverted Pendulum – A Simultaneous Design Approach
- Die Epipolargeometrie in der Röntgendurchleuchtungsprüfung: Grundlagen und Anwendung (The Epipolar Geometry in the Radioscopy: Theory and Application)
- Adaption von Flugreglern mittels Fuzzy-Logik (Adaption of Flight Control by Means of Fuzzy Logic)
- Variablen- und Parameterschätzung für Regelstreckenmodelle in Deskriptorform (Variable and Parameter Estimation for Plant Models in Descriptor Form)
- Vollständige Modale Synthese robust hyperstabiler Mehrgrößenregelkreise (Complete Modal Synthesis of Robustly Hyperstable Multivariable Control-loops)
