Swing up and balance control of a dual-inverted pendulum | |
| Author | Sorawuth Vatanashevanopakorn |
| Call Number | AIT Thesis no.ISE-10-41 |
| Subject(s) | Automatic control Pendulum |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-10-41 |
| Abstract | Recently, single-inverted pendulum has been studied as a simple balancing control example. The idea of this balancing concept is that trying to balance stick on the certain area without falling situation that is against the gravitational force. In this thesis, the dual-inverted pendulum (or called parallel-inverted pendulum) has been studied. This research concerns about how to design and control for this system. There are design principle, mathematics model, parameters identification and control algorithm. To complete this thesis, the single-inverted pendulum has been accomplished first. By PID, LQR, sliding mode control and swinging algorithm, the single-inverted pendulum system has been controlled from downward position to upward position and it can stabilizes this situation when applying some disturbance. Then, the dual-inverted pendulum has been applied by LQR and sliding mode control and simulation result are presented and discussed. |
| Year | 2010 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-10-41 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Bohez, Erik L.J. |
| Scholarship Donor(s) | Royal Thai Government Fellowship |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2010 |