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

doi:10.1109/ICMECH.2005.1529245

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 proceeding › Conference 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 language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Pages	157-161
Number of pages	5
DOIs	https://doi.org/10.1109/ICMECH.2005.1529245
Publication status	Published - 2005 Dec 1
Event	2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan Duration: 2005 Jul 10 → 2005 Jul 12

Publication series

Name	Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Volume	2005

Other

Other	2005 IEEE International Conference on Mechatronics, ICM '05
Country/Territory	Taiwan
City	Taipei
Period	05-07-10 → 05-07-12

All Science Journal Classification (ASJC) codes

General Engineering

Access to Document

10.1109/ICMECH.2005.1529245

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). Article 1529245 (Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05; Vol. 2005). https://doi.org/10.1109/ICMECH.2005.1529245

@inproceedings{349370822d1c4a71b419860cdb7e558d,

title = "Synchronous control of the parallel dual inverted pendulum system driven by linear servomotors",

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.",

author = "Shen, {B. H.} and Hsu, {G. L.} and Mi-Ching Tsai and Min-Fu Hsieh and Wu, {M. C.} and Chiang, {C. R.}",

year = "2005",

month = dec,

day = "1",

doi = "10.1109/ICMECH.2005.1529245",

language = "English",

isbn = "0780389980",

series = "Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05",

pages = "157--161",

booktitle = "Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05",

note = "2005 IEEE International Conference on Mechatronics, ICM '05 ; Conference date: 10-07-2005 Through 12-07-2005",

}

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 et al.
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 proceeding › Conference contribution

TY - GEN

T1 - Synchronous control of the parallel dual inverted pendulum system driven by linear servomotors

AU - Shen, B. H.

AU - Hsu, G. L.

AU - Tsai, Mi-Ching

AU - Hsieh, Min-Fu

AU - Wu, M. C.

AU - Chiang, C. R.

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N2 - 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.

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 MC , Hsieh MF, 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). doi: 10.1109/ICMECH.2005.1529245

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

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