Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
This paper newly proposes implementation of stable control strategy for underactuated inverted pendulum robots, in which the controller system has different two sampling periods within its control scheme. This robot is usually regarded as rotary inverted pendulum, and has a couple of links, one DC motor, and two rotary encoders. We introduce two different sampling periods into each link controller, and try to change the period so that, for example, the period of 1st link is set as 10ms when that of 2nd link becomes half of the period. Even in this condition, stable upright position control of the pendulum robot can be realized by means of conventional LQR control method.
