Experimental Verification of Energy-Based Swing-up Control for a Rotational Pendulum

摘要

The energy-based swing-up control for a rotational pendulum by controlling both the total mechanical energy and actuated arm has been addressed theoretically. In this study, we verify experimentally the exiting solution of the energy-based swing-up control for the rotational pendulum system developed by Quanser Inc. We show experimentally that the energy-based swing-up control is effective to swing-up the pendulum up to the upright position and drive the arm to a desired position. We discuss about and compare with another swing-up control method of controlling only the rotational kinetic energy of the pendulum.