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T. Hoshino, H. Kawai, K. Furuta

Stabilization of The Triple Spherical Inverted Pendulum – A Simultaneous Design Approach

This paper describes the stabilizing control of a triple spherical pendulum around its upright position using a planer manipulator and a vision sensor. The control problem is especially difficult because of the controller limitation such as the low sampling rate of the vision system. To achieve the stabilization, the authors simultaneously design the pendulum structure and the controller. This gives better optimization result than that of designing only the controller for a given pendulum. The effectiveness of the proposed approach has been confirmed through experiments.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 48, 12/2000
Pages: 577

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