Swing-up and Stabilization Control of a Flexible Rotational Inverted Pendulum by Nonlinear Frequency Optimal Control / 周波数依存型非線形最適制御による回転型柔軟倒立振子の振り上げ安定化
- Resource Type
- Journal Article
- Authors
- Kyosuke YAMAGUCHI; Noboru SAKAMOTO; 坂本 登; 山口 恭輔
- Source
- 計測自動制御学会論文集 / Transactions of the Society of Instrument and Control Engineers. 2015, 51(3):148
- Subject
- Hamilton-Jacobi equation
flexible beam
inverted pendulum
nonlinear optimal control
swing-up
- Language
- Japanese
- ISSN
- 0453-4654
1883-8189
Flexible rotational inverted pendulum is an extension of Furuta inverted pendulum in which pendulum is no longer a rigid body and vibrates due to the elasticity of the flexible beam. In this paper, we design a nonlinear controller based on nonlinear frequency optimal control for swinging up and stabilization of the flexible beam by a single feedback control. This controller is solved via the stable manifold approach which is recently proposed for solving the Hamilton-Jacobi equation.