Obstacle rotary inverted pendulum control via polytope techniques

Juan Zhang; Jie Chen; Peng Li

doi:10.1109/MESA.2008.4735758

Obstacle rotary inverted pendulum control via polytope techniques

Juan Zhang^*
, Jie Chen
, Peng Li

^*Corresponding author for this work

Beijing Institute of Technology

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

1 Citation (Scopus)

Abstract

The subject of this investigation is the rotary inverted pendulum system with an obstacle. The model and constraints on control, state and disturbance variables of rotary inverted pendulum system with an obstacle are analysised. Methods based on polytope geometric techniques are used for stabilizing the rotary inverted pendulum. The simulation results show that both methods can get the pendulum stabilized.

Original language	English
Title of host publication	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008
Pages	597-601
Number of pages	5
DOIs	https://doi.org/10.1109/MESA.2008.4735758
Publication status	Published - 2008
Externally published	Yes
Event	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008 - Beijing, China Duration: 12 Dec 2008 → 15 Dec 2008

Publication series

Name	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008

Conference

Conference	2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008
Country/Territory	China
City	Beijing
Period	12/12/08 → 15/12/08

Keywords

Hard constraints
Inverted pendulum
Obstacle
Polytope techniques
Stabilization

Access to Document

10.1109/MESA.2008.4735758

Cite this

Zhang, J., Chen, J., & Li, P. (2008). Obstacle rotary inverted pendulum control via polytope techniques. In 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008 (pp. 597-601). Article 4735758 (2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008). https://doi.org/10.1109/MESA.2008.4735758

@inproceedings{46bc4cfa055547398da08f6e5cc1abd1,

title = "Obstacle rotary inverted pendulum control via polytope techniques",

abstract = "The subject of this investigation is the rotary inverted pendulum system with an obstacle. The model and constraints on control, state and disturbance variables of rotary inverted pendulum system with an obstacle are analysised. Methods based on polytope geometric techniques are used for stabilizing the rotary inverted pendulum. The simulation results show that both methods can get the pendulum stabilized.",

keywords = "Hard constraints, Inverted pendulum, Obstacle, Polytope techniques, Stabilization",

author = "Juan Zhang and Jie Chen and Peng Li",

year = "2008",

doi = "10.1109/MESA.2008.4735758",

language = "English",

isbn = "9781424423682",

series = "2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008",

pages = "597--601",

booktitle = "2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008",

note = "2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008 ; Conference date: 12-12-2008 Through 15-12-2008",

}

Zhang, J, Chen, J & Li, P 2008, Obstacle rotary inverted pendulum control via polytope techniques. in 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008., 4735758, 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008, pp. 597-601, 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008, Beijing, China, 12/12/08. https://doi.org/10.1109/MESA.2008.4735758

Obstacle rotary inverted pendulum control via polytope techniques. / Zhang, Juan; Chen, Jie; Li, Peng.
2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008. 2008. p. 597-601 4735758 (2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008).

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

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AU - Zhang, Juan

AU - Chen, Jie

AU - Li, Peng

PY - 2008

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N2 - The subject of this investigation is the rotary inverted pendulum system with an obstacle. The model and constraints on control, state and disturbance variables of rotary inverted pendulum system with an obstacle are analysised. Methods based on polytope geometric techniques are used for stabilizing the rotary inverted pendulum. The simulation results show that both methods can get the pendulum stabilized.

AB - The subject of this investigation is the rotary inverted pendulum system with an obstacle. The model and constraints on control, state and disturbance variables of rotary inverted pendulum system with an obstacle are analysised. Methods based on polytope geometric techniques are used for stabilizing the rotary inverted pendulum. The simulation results show that both methods can get the pendulum stabilized.

KW - Hard constraints

KW - Inverted pendulum

KW - Obstacle

KW - Polytope techniques

KW - Stabilization

UR - https://www.scopus.com/pages/publications/60749087046

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T2 - 2008 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, MESA 2008

Y2 - 12 December 2008 through 15 December 2008

ER -

Obstacle rotary inverted pendulum control via polytope techniques

Abstract

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Keywords

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