Rotary Inverted Pendulum Swingup

Swinging up a pendulum using arm position reference stepping to add energy to the system. Position reference is stepped based on measured pendulum rotational position.

To catch and balance the pendulum, a full state feedback controller is used. If the system cannot recover from a large disturbance, the pendulum is stabilized in the downward position and swings up again after a time delay.

If the disturbance is large enough to force the pendulum all the way around again (at the end of the video), the control attempts to catch the pendulum when it comes around.

Category:

Science & Technology

Tags:

• Rotary
• Inverted
• Pendulum
• Balance
• Swing
• Stabilization
• Robot
• Disturbance
• Rejection

[mansimran100]

buddy can you please tell me the specifications of the motor used......???? please reply soon

[RicardoATBarbosa]

So much violence, that it easy with the robot!

[psp10004]

awesome just awesome

[szah0004]

the swing-up is not accurate and the stabilization is not also accurate - the horizontal arm oscillates with large angles!

[cadeezell]

dang how much math did that take to get it perfect like that. Thats inpressive