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

fYear

2007

fDate

4-7 June 2007

Firstpage

2129

Lastpage

2134

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ISIE.2007.4374937

Filename

4374937