An improved backstepping design for the control of an underactuated inverted pendulum

作者：Lu Yu Sheng^*; Chiu Hua Hsu; Lien Shu Fen

来源：Journal of Mechanical Science and Technology, 2013, 27(3): 865-873.

DOI：10.1007/s12206-013-0203-y

• Backstepping design
• Control system
• Inverted pendulum
• Underactuated system

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%26apos;s performance. Experimental studies are conducted to investigate the effectiveness of the proposed scheme.

• 出版日期2013-3