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Coefficient Diagram Method Based Balancing Control of PenduBot

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Abstract
In this paper, a controller design for PenduBot is presented to demonstrate the use of Coefficient Diagram Method (CDM) in designing controls for a nonlinear, unstable, and single-input multi-output (SIMO) system. PenduBot is the abbreviation of Pendulum Robot which has two axis link system. The first arm is driven by a DC motor and the second one is controlled by the first link without an actuator. The purpose of this paper is to identify the PenduBot system from swing-up motions and design control parameters which place unstable poles to stable ones using CDM to balance the links. Because of nonlinear and SIMO system characteristics, it is difficult to design a controller which produces a satisfactory performance. The CDM method solves this problem and shows significant robustness, stability, and response characteristics.
In this paper, a controller design for PenduBot is presented to demonstrate the use of Coefficient Diagram Method (CDM) in designing controls for a nonlinear, unstable, and single-input multi-output (SIMO) system. PenduBot is the abbreviation of Pendulum Robot which has two axis link system. The first arm is driven by a DC motor and the second one is controlled by the first link without an actuator. The purpose of this paper is to identify the PenduBot system from swing-up motions and design control parameters which place unstable poles to stable ones using CDM to balance the links. Because of nonlinear and SIMO system characteristics, it is difficult to design a controller which produces a satisfactory performance. The CDM method solves this problem and shows significant robustness, stability, and response characteristics.
Author(s)
Kim, DaekwanKim, Hansil
Issued Date
2002
Type
Research Laboratory
URI
https://oak.ulsan.ac.kr/handle/2021.oak/4077
http://ulsan.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002025261
Publisher
공학연구논문집
Language
eng
Rights
울산대학교 저작물은 저작권에 의해 보호받습니다.
Citation Volume
33
Citation Number
2
Citation Start Page
47
Citation End Page
62
Appears in Collections:
Research Laboratory > Engineering Research
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