POLISH ACADEMY of SCIENCES
TECHNICAL SCIENCES
| BULLETIN
of the
POLISH ACADEMY of SCIENCES TECHNICAL SCIENCES |
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| Volume 52, Issues 3, September 2004 | ||||
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pp
153 - 163
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Swing-up time analysis of pendulum |
| K. FURUTA and M. IWASE |
| Swing-up control of a single pendulum from the pendant to the upright position is firstly surveyed. The control laws are comparatively studied based on swing-up time from a given initial state to the upright position. The State Dependent Riccati Equation is found effective for designing the swing-up control law under saturating control input. The control law is extended to a linear combination of sine function of the angle and the angular velocity, and a variable structure control with a sliding mode given by the linear combination. Making the swing-up time correspond to a colour, which is similar to the Fractal analysis, colour maps of the swing-up time for given control parameters and initial conditions yield interesting Fractal-like figures. |
| Keywords: |
| pendulum control, state dependent Riccati equation, nonlinear control, artificial gravity, fractal. |
| Issue Index |
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Scope Index | Web Info |
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| Aims&Scope | Subscription | Authors' guide | Editors |
| Copyright
- Bulletin of the Polish Academy of Sciences: Technical Sciences
14 February 2005, site prepared by KZ |
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