| Title:
|
A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach (English) |
| Author:
|
Rodríguez-Cortés, H. |
| Language:
|
English |
| Journal:
|
Kybernetika |
| ISSN:
|
0023-5954 (print) |
| ISSN:
|
1805-949X (online) |
| Volume:
|
55 |
| Issue:
|
2 |
| Year:
|
2019 |
| Pages:
|
402-421 |
| Summary lang:
|
English |
| . |
| Category:
|
math |
| . |
| Summary:
|
This paper considers the problem of swinging up the Furuta pendulum and proposes a new smooth nonlinear swing up controller based on the concept of energy. This new controller results from the Total Energy Control System (TECS) approach in conjunction with a linearizing feedback controller. The new controller commands to the desired reference the total energy rate of the Furuta pendulum; thus, the Furuta pendulum oscillates and reaches a neighborhood of its unstable configuration while the rotation of its base remains bounded. Once the Furuta pendulum configuration is in the neighborhood of its unstable equilibrium point, a linear controller stabilizes the unstable configuration of the Furuta pendulum. Real-time experiments are included to support the theoretical developments. (English) |
| Keyword:
|
total energy control system |
| Keyword:
|
Furuta pendulum |
| Keyword:
|
swinging up control |
| Keyword:
|
real-time experiments |
| MSC:
|
93C10 |
| MSC:
|
93C15 |
| idZBL:
|
Zbl 07144945 |
| idMR:
|
MR4014594 |
| DOI:
|
10.14736/kyb-2019-2-0402 |
| . |
| Date available:
|
2019-09-30T15:12:07Z |
| Last updated:
|
2020-04-02 |
| Stable URL:
|
http://hdl.handle.net/10338.dmlcz/147844 |
| . |
| Reference:
|
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