loading
Papers

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Chiharu Ishii 1 ; Shigehiko Yamamoto 1 and Hiroshi Hashimoto 2

Affiliations: 1 Kogakuin University, Japan ; 2 Tokyo University of Technology, Japan

ISBN: 972-8865-12-0

Keyword(s): Simultaneous optimal design, Integrated design of structure/controller, Parallel inverted pendulum systems.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Information-Based Models for Control ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: An integrated design of structure/controller for parallel inverted pendulum systems is presented. In practical parallel inverted pendulum systems, existence of a realizable stabilizing controller is inevitably determined depending on the position of center of gravity of two pendulums. In this paper these parameters are set as structural parameters in structural systems and a descriptor form representation is used to express the dynamics of parallel inverted pendulum systems. A state feedback gain and structural parameters are determined based on a design of linear quadratic regulator (LQR), in which a generalized Ricatti equation in LQR problem for the descriptor form representation is reduced to LMI conditions. Main contribution of this paper is to give a method to determine the position of center of gravity of two pendulums for parallel inverted pendulum systems in a sense of suitable for control. Based on the obtained structural parameters, some experimental works are executed. Exp erimental results show the effectiveness of the proposed design method. (More)

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.231.229.89

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Ishii C.; Yamamoto S.; Hashimoto H. and (2004). INTEGRATED DESIGN OF STRUCTURE/CONTROLLER FOR PARALLEL INVERTED PENDULUM SYSTEMS.In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 972-8865-12-0, pages 108-113. DOI: 10.5220/0001134601080113

@conference{icinco04,
author={Chiharu Ishii and Shigehiko Yamamoto and Hiroshi Hashimoto},
title={INTEGRATED DESIGN OF STRUCTURE/CONTROLLER FOR PARALLEL INVERTED PENDULUM SYSTEMS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2004},
pages={108-113},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001134601080113},
isbn={972-8865-12-0},
}

TY - CONF

JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - INTEGRATED DESIGN OF STRUCTURE/CONTROLLER FOR PARALLEL INVERTED PENDULUM SYSTEMS
SN - 972-8865-12-0
AU - Ishii, C.
AU - Yamamoto, S.
AU - Hashimoto, H.
PY - 2004
SP - 108
EP - 113
DO - 10.5220/0001134601080113

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.