Synchronous control of the parallel dual inverted pendulum system driven by linear servomotors

B. H. Shen, G. L. Hsu, Mi-Ching Tsai, Min-Fu Hsieh, M. C. Wu, C. R. Chiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This study proposes a novel parallel dual inverted pendulum system (PDIPS), which consists of a pair of parallel linear servomotors with each carrying an inverted pendulum (IF). The potential applications of the PDIPS include transportation, power-aided tools and rehabilitation. For the two inverted pendulums to move in synchronization, the control problem combines the classical IP control issue and the synchronous tracking control of the two linear motors. Hence, this study aims to develop a control scheme to achieve the balancing of both individual IPs and their synchronization for the PDIPS. Simulation and experimental results show the feasibility of the proposed control scheme for the PDIPS.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Pages157-161
Number of pages5
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan
Duration: 2005 Jul 102005 Jul 12

Publication series

NameProceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Volume2005

Other

Other2005 IEEE International Conference on Mechatronics, ICM '05
CountryTaiwan
CityTaipei
Period05-07-1005-07-12

Fingerprint

Servomotors
Pendulums
Synchronization
Linear motors
Patient rehabilitation

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Shen, B. H., Hsu, G. L., Tsai, M-C., Hsieh, M-F., Wu, M. C., & Chiang, C. R. (2005). Synchronous control of the parallel dual inverted pendulum system driven by linear servomotors. In Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05 (pp. 157-161). [1529245] (Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05; Vol. 2005). https://doi.org/10.1109/ICMECH.2005.1529245
Shen, B. H. ; Hsu, G. L. ; Tsai, Mi-Ching ; Hsieh, Min-Fu ; Wu, M. C. ; Chiang, C. R. / Synchronous control of the parallel dual inverted pendulum system driven by linear servomotors. Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05. 2005. pp. 157-161 (Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05).
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abstract = "This study proposes a novel parallel dual inverted pendulum system (PDIPS), which consists of a pair of parallel linear servomotors with each carrying an inverted pendulum (IF). The potential applications of the PDIPS include transportation, power-aided tools and rehabilitation. For the two inverted pendulums to move in synchronization, the control problem combines the classical IP control issue and the synchronous tracking control of the two linear motors. Hence, this study aims to develop a control scheme to achieve the balancing of both individual IPs and their synchronization for the PDIPS. Simulation and experimental results show the feasibility of the proposed control scheme for the PDIPS.",
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Shen, BH, Hsu, GL, Tsai, M-C, Hsieh, M-F, Wu, MC & Chiang, CR 2005, Synchronous control of the parallel dual inverted pendulum system driven by linear servomotors. in Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05., 1529245, Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05, vol. 2005, pp. 157-161, 2005 IEEE International Conference on Mechatronics, ICM '05, Taipei, Taiwan, 05-07-10. https://doi.org/10.1109/ICMECH.2005.1529245

Synchronous control of the parallel dual inverted pendulum system driven by linear servomotors. / Shen, B. H.; Hsu, G. L.; Tsai, Mi-Ching; Hsieh, Min-Fu; Wu, M. C.; Chiang, C. R.

Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05. 2005. p. 157-161 1529245 (Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AB - This study proposes a novel parallel dual inverted pendulum system (PDIPS), which consists of a pair of parallel linear servomotors with each carrying an inverted pendulum (IF). The potential applications of the PDIPS include transportation, power-aided tools and rehabilitation. For the two inverted pendulums to move in synchronization, the control problem combines the classical IP control issue and the synchronous tracking control of the two linear motors. Hence, this study aims to develop a control scheme to achieve the balancing of both individual IPs and their synchronization for the PDIPS. Simulation and experimental results show the feasibility of the proposed control scheme for the PDIPS.

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Shen BH, Hsu GL, Tsai M-C, Hsieh M-F, Wu MC, Chiang CR. Synchronous control of the parallel dual inverted pendulum system driven by linear servomotors. In Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05. 2005. p. 157-161. 1529245. (Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05). https://doi.org/10.1109/ICMECH.2005.1529245