Synchronisation control of parallel dual inverted pendulums driven by linear servomotors

Mi-Ching Tsai, B. H. Shen

Research output: Contribution to journalArticle

17 Citations (Scopus)

Abstract

Synchronisation control of multi-axis servosystems has recently attracted the attention of researchers, but the issue of synchronisation for multiple inverted pendulums (IPs) is rarely discussed. With this in mind, the authors present a control design of a parallel dual IP system (PDIPS) in which two IPs driven by a pair of linear servomotors allow for parallel movement. The control problem of coupling IPs involves both balancing and synchronous tracking control. A robust design is investigated to enhance internal dynamic stiffness and achieve balance control of the PDIPS. Furthermore, a synchronisation control scheme with a coordinated compensator is proposed to perform a viably congruent dual-axis motion. Experimental results are given to verify the feasibility of the illustrated method. When compared with the classical master-slave control, the proposed control scheme has the advantage in that it can significantly reduce the synchronisation error in command tracking and can generate coordinated motion on both axes.

Original languageEnglish
Pages (from-to)320-327
Number of pages8
JournalIET Control Theory and Applications
Volume1
Issue number1
DOIs
Publication statusPublished - 2007 Jan 22

Fingerprint

Servomotors
Inverted Pendulum
Pendulums
Synchronization
Servo System
Motion
Robust Design
Congruent
Compensator
Tracking Control
Control Design
Balancing
Control Problem
Stiffness
Verify
Internal
Experimental Results

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Electrical and Electronic Engineering

Cite this

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Synchronisation control of parallel dual inverted pendulums driven by linear servomotors. / Tsai, Mi-Ching; Shen, B. H.

In: IET Control Theory and Applications, Vol. 1, No. 1, 22.01.2007, p. 320-327.

Research output: Contribution to journalArticle

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