Research Article

A Nonlinear Programming Approach For The Swing-Up Control Problem

Volume: 21 Number: 2 December 31, 2008
Ahmet Yazıcı , Abdurrahman Karamancıoğlu
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Journal of Engineering and Architecture Faculty of Eskisehir Osmangazi University Cover Journal of Engineering and Architecture Faculty of Eskisehir Osmangazi University
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A Nonlinear Programming Approach For The Swing-Up Control Problem

Abstract

A nonlinear programming approach for the inverted pendulum swing-up control is presented. Even though it is an energy-based method, it uses fundamentally different mathematical tools to achieve the swing-up goal. The control problem translated into nonlinear programming model with appropriate objective function and constraints. While the objective function provides energy increase in the system, physical restrictions of the system are handled in the constraints of the nonlinear programming model. It is also shown that this model is intrinsically suitable for embedding any nonlinear system constraints. Simulation results for illustrative cases are included to validate the design method.


Keywords

Swing-up control problem,Inverted pendulum,Underactuated systems,Nonlinear Programming,Energy based methods.

References

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  3. [3] K. Yoshida, “Swing-up control of an inverted pendulum by energy-based Methods”, Proceedings of American Control Conference, pp. 4045-4047, 1999.
  4. [4] D. Chatterjee, A. Patra, and H. K. Joglekar, “Swing-up and stabilization of a cartpendulum system under restricted cart track length", Systems and Control Letters, vol. 47, pp. 355-364, 2002.
  5. [5] N. Muskinja, and B. Tovornik, “Swinging up and stabilization of a real inverted pendulum”, IEEE Transactions on Industrial Electronics, vol. 53, pp. 631-639, 2006.
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  7. [7] J. Yi, N. Yubazaki, and K. Hirota, “Upswing and stabilization control of inverted pendulum system based on the SIRMs dynamically connected fuzzy inference model”, Fuzzy Sets and Systems, vol. 122, pp. 139-152, 2001.
  8. [8] K. Ogata, Modern Control Engineering, Prentice-Hall Inc, 1990.
  9. [9] M. S. Bazaraa, H. D. Sherali, and C. M. Shetty, “Nonlinear Programming: Theory and Algoritms”, John Wiley and Sons, 1993.

Details

Primary Language

Turkish

Subjects

Computer Software

Journal Section

Research Article

Authors

Publication Date

December 31, 2008

Submission Date

July 2, 2017

Acceptance Date

November 4, 2008

Published in Issue

Year 2008 Volume: 21 Number: 2

IZ

https://izlik.org/JA74NJ68PB

Cite

RIS / Bibtex
APA
Yazıcı, A., & Karamancıoğlu, A. (2008). A Nonlinear Programming Approach For The Swing-Up Control Problem. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi, 21(2), 109-124. https://izlik.org/JA74NJ68PB
AMA
1.Yazıcı A, Karamancıoğlu A. A Nonlinear Programming Approach For The Swing-Up Control Problem. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi. 2008;21(2):109-124. https://izlik.org/JA74NJ68PB
Chicago
Yazıcı, Ahmet, and Abdurrahman Karamancıoğlu. 2008. “A Nonlinear Programming Approach For The Swing-Up Control Problem”. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi 21 (2): 109-24. https://izlik.org/JA74NJ68PB.
EndNote
Yazıcı A, Karamancıoğlu A (December 1, 2008) A Nonlinear Programming Approach For The Swing-Up Control Problem. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi 21 2 109–124.
IEEE
[1]A. Yazıcı and A. Karamancıoğlu, “A Nonlinear Programming Approach For The Swing-Up Control Problem”, Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi, vol. 21, no. 2, pp. 109–124, Dec. 2008, [Online]. Available: https://izlik.org/JA74NJ68PB
ISNAD
Yazıcı, Ahmet - Karamancıoğlu, Abdurrahman. “A Nonlinear Programming Approach For The Swing-Up Control Problem”. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi 21/2 (December 1, 2008): 109-124. https://izlik.org/JA74NJ68PB.
JAMA
1.Yazıcı A, Karamancıoğlu A. A Nonlinear Programming Approach For The Swing-Up Control Problem. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi. 2008;21:109–124.
MLA
Yazıcı, Ahmet, and Abdurrahman Karamancıoğlu. “A Nonlinear Programming Approach For The Swing-Up Control Problem”. Eskişehir Osmangazi Üniversitesi Mühendislik Ve Mimarlık Fakültesi Dergisi, vol. 21, no. 2, Dec. 2008, pp. 109-24, https://izlik.org/JA74NJ68PB.
Vancouver
1.Ahmet Yazıcı, Abdurrahman Karamancıoğlu. A Nonlinear Programming Approach For The Swing-Up Control Problem. Eskişehir Osmangazi Üniversitesi Mühendislik ve Mimarlık Fakültesi Dergisi [Internet]. 2008 Dec. 1;21(2):109-24. Available from: https://izlik.org/JA74NJ68PB

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