Proceedings of the Japan Joint Automatic Control Conference
THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : 327
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Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Basis and Evolution of Passive Dynamic Locomotion
An Experimental Verification of Stabilizing a Mobile Inverted Pendulum with Interconnection and Damping Assignment Passivity-Based Control
*Kazuto YOKOYAMA, Masaki TAKAHASHI
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Keywords: passivity, nonlinear control, mobile inverted pendulum, experiment
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Abstract
Interconnection and damping Assignment passivity-based control (IDA-PBC) is a nonlinear control method which is powerful to stabilize underactuated mechanical systems. In a previous study, the authors showed that IDA-PBC can be applied for a mobile inverted pendulum and verified the performances in simulations. In this study, an experimental application of the IDA-PBC controller is reported. We verify the effectiveness and compare it with a linear controller.
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© 2010 JSME
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