Title :
Stabilization of the Furuta Pendulum Using a Nonlinear Control Law Based on the Method of Controlled Lagrangians
Author :
Machleidt, Konstantin ; Kroneis, Jens ; Liu, Steven
Author_Institution :
Tech. Univ. of Kaiserslautern, Kaiserslautern
Abstract :
This paper presents the design details for a nonlinear control law to stabilize a Furuta pendulum experimental apparatus. The controller is based on the method of controlled Lagrangians - a well-known energy based approach for stabilization of underactuated mechanical systems in Lagrangian form. An advanced model of the Furuta pendulum including friction effects is used for the controller synthesis. A systematic approach to determine the controller parameters for achieving an acceptable control performance is described. Simulation results are given to demonstrate the effectiveness of the design method.
Keywords :
control system synthesis; nonlinear control systems; pendulums; stability; Furuta pendulum; controlled Lagrangians; controller synthesis; nonlinear control law; stabilization; underactuated mechanical systems; Control system synthesis; Control systems; Design methodology; Friction; Kinetic theory; Lagrangian functions; Mechanical systems; Nonlinear control systems; Potential energy; State-space methods;
Conference_Titel :
Industrial Electronics, 2007. ISIE 2007. IEEE International Symposium on
Conference_Location :
Vigo
Print_ISBN :
978-1-4244-0754-5
Electronic_ISBN :
978-1-4244-0755-2
DOI :
10.1109/ISIE.2007.4374937
