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

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
頁面157-161
頁數5
DOIs
出版狀態Published - 2005 十二月 1
事件2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan
持續時間: 2005 七月 102005 七月 12

出版系列

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

Other

Other2005 IEEE International Conference on Mechatronics, ICM '05
國家Taiwan
城市Taipei
期間05-07-1005-07-12

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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  • 引用此

    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. 於 Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05 (頁 157-161). [1529245] (Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05; 卷 2005). https://doi.org/10.1109/ICMECH.2005.1529245