Abstract
An high-speed movement control technique of inverted pendulums making use of zero dynamics is introduced. Inverted pendulums are self-regulated systems to simulate games that children sway up umbrellas or sticks. And the controller design for various pendulums have been widely challenged since about 1970s. Recently, the machines for human riding using the principle were developed. And many biped walking robots have used the principle, too. Furthermore, many scientists make advances in nonlinear control technique. However, such invetred pendulums are basically controlled as they are not folded up. This paper presents an oposite idea against the manner. The pendulums break down the balance aggressively on purpose when they move. The idea is similar to the sprint by speed skaters. And when the pendulum stops, they redresse the balance again. In order to realize the idea, the controller related to the movement control mode is designed by using partial feedback linearization. Furthermore, when the controller makes the pendulum stop, it switchs the control law from the movement control mode to a stationary control mode which uses linear LQ servo control. Finally, experimental results are shown. As the result, the pendulum under the experiment can move 250mm by 0.5-1.0s successfuly.
