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Synchronisation control of parallel dual inverted pendulums driven by linear servomotors

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2 Author(s)
Tsai, M.-C. ; Dept. of Mech. Eng., Nat. Cheng Kung Univ., Taiwan ; Shen, B.-H.

Synchronisation control of multi-axis servosystems has recently attracted the attention of researchers, but the issue of synchronisation for multiple inverted pendulums (IPs) is rarely discussed. With this in mind, the authors present a control design of a parallel dual IP system (PDIPS) in which two IPs driven by a pair of linear servomotors allow for parallel movement. The control problem of coupling IPs involves both balancing and synchronous tracking control. A robust design is investigated to enhance internal dynamic stiffness and achieve balance control of the PDIPS. Furthermore, a synchronisation control scheme with a coordinated compensator is proposed to perform a viably congruent dual-axis motion. Experimental results are given to verify the feasibility of the illustrated method. When compared with the classical master-slave control, the proposed control scheme has the advantage in that it can significantly reduce the synchronisation error in command tracking and can generate coordinated motion on both axes.

Published in:

Control Theory & Applications, IET  (Volume:1 ,  Issue: 1 )