Control and Stabilization of the Inverted Pendulum via Vertical Forces英文文献.pdfVIP

190 Control and Stabilization of the Inverted Pendulum via Vertical Forces D. Maravall Department of Artificial Intelligence Faculty of Computer Science, Universidad Politécnica de Madrid Campus de Montegancedo, 28660 Madrid, Spain dmaravall @fi.upm.es Abstract. In this chapter, we present a detailed analysis of the possibilities of con- trolling and stabilizing the inverted pendulum (IP) by means of a vertical force. First, we establish the dynamic equations of the IP under the action of a generic vertical force and then we analyze its control and stabilization. The main conclu- sion is that the vertical force has an excellent stabilization effect, although it re- quires a permanent fall of the IP support base when it is the only applied force. Therefore, we investigate the combination of the vertical force with the customary horizontal force, arriving at the stabilization conditions for different formal repre- sentations of the system: ordinary differential equations, state variable representa- tion and Liapunov´s direct and indirect methods. 1 Introduction The inverted pendulum (IP) is a widely studied dynamic system, which has re- ceived considerable attention in many fields, such as physics, mechanics, applied mathematics, control theory, and the emergent computational techniques known as soft computing [1]-[3]. There are several reasons behind such interest, in particular the importance and ubiquity of the IP in many mechanisms, including robots. Fur- thermore, its intrinsic theoretical interest and the strong challenges posed by its stabilization and control have made the IP a sort of benchmark, in particular for the comparison of soft computing (artificial neural networks, fuzzy logic, genetic algorithms) and hard computing (ordinary differential equations, input-output con- trol, state variable techniques, like optimal control or Liapunov´s stability). Ap