A switching control scheme for underactuated cart-pole systems with aggressive swing-up

Bingtuan Gao; Hongjun Chen; Xiaohua Zhang; Haiming Qi

A switching control scheme for underactuated cart-pole systems with aggressive swing-up

Bingtuan Gao^*
, Hongjun Chen
, Xiaohua Zhang
, Haiming Qi

^*Corresponding author for this work

School of Electrical Engineering and Automation

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This paper presents a switching control scheme for underactuated cart-pole system. The control task is to bring the pole to the upper unstable equilibrium position with converging the cart displacement to zero, and it is separated into two parts: aggressive swing-up the pole from the under plane into the upper plane and stabilizing the pole to its upper unstable equilibrium point with regulating the cart displacement. The stabilization controller is designed with transformed feedforward norm forms dynamics by using nested saturation technique, and the aggressive swing-up controller is developed by using saturated state feedback technique. The simulation results illustrate the effectiveness of the approach.

Original language	English
Title of host publication	1st International Symposium on Systems and Control in Aerospace and Astronautics
Pages	720-725
Number of pages	6
State	Published - 2006
Event	1st International Symposium on Systems and Control in Aerospace and Astronautics - Harbin, China Duration: 19 Jan 2006 → 21 Jan 2006

Publication series

Name	1st International Symposium on Systems and Control in Aerospace and Astronautics
Volume	2006

Conference

Conference	1st International Symposium on Systems and Control in Aerospace and Astronautics
Country/Territory	China
City	Harbin
Period	19/01/06 → 21/01/06

Cite this

@inproceedings{01f1bd64d41e4414be604cd36fe8b607,

title = "A switching control scheme for underactuated cart-pole systems with aggressive swing-up",

abstract = "This paper presents a switching control scheme for underactuated cart-pole system. The control task is to bring the pole to the upper unstable equilibrium position with converging the cart displacement to zero, and it is separated into two parts: aggressive swing-up the pole from the under plane into the upper plane and stabilizing the pole to its upper unstable equilibrium point with regulating the cart displacement. The stabilization controller is designed with transformed feedforward norm forms dynamics by using nested saturation technique, and the aggressive swing-up controller is developed by using saturated state feedback technique. The simulation results illustrate the effectiveness of the approach.",

author = "Bingtuan Gao and Hongjun Chen and Xiaohua Zhang and Haiming Qi",

year = "2006",

language = "英语",

isbn = "0780393953",

series = "1st International Symposium on Systems and Control in Aerospace and Astronautics",

pages = "720--725",

booktitle = "1st International Symposium on Systems and Control in Aerospace and Astronautics",

note = "1st International Symposium on Systems and Control in Aerospace and Astronautics ; Conference date: 19-01-2006 Through 21-01-2006",

}

Gao, B, Chen, H, Zhang, X & Qi, H 2006, A switching control scheme for underactuated cart-pole systems with aggressive swing-up. in 1st International Symposium on Systems and Control in Aerospace and Astronautics., 1627434, 1st International Symposium on Systems and Control in Aerospace and Astronautics, vol. 2006, pp. 720-725, 1st International Symposium on Systems and Control in Aerospace and Astronautics, Harbin, China, 19/01/06.

A switching control scheme for underactuated cart-pole systems with aggressive swing-up. / Gao, Bingtuan; Chen, Hongjun; Zhang, Xiaohua et al.
1st International Symposium on Systems and Control in Aerospace and Astronautics. 2006. p. 720-725 1627434 (1st International Symposium on Systems and Control in Aerospace and Astronautics; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Chen, Hongjun

AU - Zhang, Xiaohua

AU - Qi, Haiming

PY - 2006

Y1 - 2006

N2 - This paper presents a switching control scheme for underactuated cart-pole system. The control task is to bring the pole to the upper unstable equilibrium position with converging the cart displacement to zero, and it is separated into two parts: aggressive swing-up the pole from the under plane into the upper plane and stabilizing the pole to its upper unstable equilibrium point with regulating the cart displacement. The stabilization controller is designed with transformed feedforward norm forms dynamics by using nested saturation technique, and the aggressive swing-up controller is developed by using saturated state feedback technique. The simulation results illustrate the effectiveness of the approach.

AB - This paper presents a switching control scheme for underactuated cart-pole system. The control task is to bring the pole to the upper unstable equilibrium position with converging the cart displacement to zero, and it is separated into two parts: aggressive swing-up the pole from the under plane into the upper plane and stabilizing the pole to its upper unstable equilibrium point with regulating the cart displacement. The stabilization controller is designed with transformed feedforward norm forms dynamics by using nested saturation technique, and the aggressive swing-up controller is developed by using saturated state feedback technique. The simulation results illustrate the effectiveness of the approach.

UR - https://www.scopus.com/pages/publications/33750938325

M3 - 会议稿件

AN - SCOPUS:33750938325

SN - 0780393953

SN - 9780780393950

T3 - 1st International Symposium on Systems and Control in Aerospace and Astronautics

SP - 720

EP - 725

BT - 1st International Symposium on Systems and Control in Aerospace and Astronautics

T2 - 1st International Symposium on Systems and Control in Aerospace and Astronautics

Y2 - 19 January 2006 through 21 January 2006

ER -

A switching control scheme for underactuated cart-pole systems with aggressive swing-up

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