期刊
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
卷 27, 期 3, 页码 865-873出版社
KOREAN SOC MECHANICAL ENGINEERS
DOI: 10.1007/s12206-013-0203-y
关键词
Backstepping design; Control system; Inverted pendulum; Underactuated system
资金
- National Science Council of ROC [NSC 100-2628-E-003-001-MY2]
This paper presents an improved backstepping design (IBD) for the control of a new type of underactuated inverted pendulum. The characteristics and possible applications of the inverted pendulum are presented. Nonlinear models and a linearized model are given for a straightforward explanation of its dynamic features. The conventional backstepping design (CBD) is revisited for this plant. The IBD is then used to reduce the complexity of the design and to allow the specification of transient characteristics, to improve the system's performance. Experimental studies are conducted to investigate the effectiveness of the proposed scheme.
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