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

H. Rodríguez-Cortés

Kybernetika (2019)

  • Volume: 55, Issue: 2, page 402-421
  • ISSN: 0023-5954

Abstract

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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.

How to cite

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Rodríguez-Cortés, H.. "A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach." Kybernetika 55.2 (2019): 402-421. <http://eudml.org/doc/294465>.

@article{Rodríguez2019,
abstract = {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.},
author = {Rodríguez-Cortés, H.},
journal = {Kybernetika},
keywords = {total energy control system; Furuta pendulum; swinging up control; real-time experiments},
language = {eng},
number = {2},
pages = {402-421},
publisher = {Institute of Information Theory and Automation AS CR},
title = {A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach},
url = {http://eudml.org/doc/294465},
volume = {55},
year = {2019},
}

TY - JOUR
AU - Rodríguez-Cortés, H.
TI - A swinging up controller for the Furuta pendulum based on the Total Energy Control System approach
JO - Kybernetika
PY - 2019
PB - Institute of Information Theory and Automation AS CR
VL - 55
IS - 2
SP - 402
EP - 421
AB - 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.
LA - eng
KW - total energy control system; Furuta pendulum; swinging up control; real-time experiments
UR - http://eudml.org/doc/294465
ER -

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