Inverted Pendulum Control moving along Circumferential Direction under Sampled-data Control with Vibration Manipulation Function

(Parameters Setting to Control Pendulum at Inverted Equilibrium Point)

Abstract

By using piecewise sampled-data control with rotational vibration manipulation function, we try to control rotational inverted pendulum at inverted equilibrium point. In the case of control by operating time (Δt = 0.1τ) derived from previous research, we found the angular velocity of the arm increases and the centrifugal force components interfered with control. Moreover, the inverted angle has error from the inverted equilibrium point. For improvement, when setting some defiation to the target angle, the inverted angle approaches to π, and the angular velocity of the arm was decreased during the inverted control. We found that we can control the rotational inverted pendulum by setting the deviation angle appropriately in this method.