A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach

Title:

A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach

Creator:

Rodríguez-Cortés, H.

Identifier:

https://cdk.lib.cas.cz/client/handle/uuid:f8face82-70c3-4927-acd9-abe02170a23b
uuid:f8face82-70c3-4927-acd9-abe02170a23b
doi:10.14736/kyb-2019-2-0402

Subject:

total energy control system, Furuta pendulum, swinging up control, and real-time experiments

Type:

model:article and TEXT

Format:

bez média and svazek

Description:

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.

Language:

English

Rights:

http://creativecommons.org/publicdomain/mark/1.0/
policy:public

Coverage:

402-421

Source:

Kybernetika | 2019 Volume:55 | Number:2

Harvested from:

CDK

Metadata only:

false