Title :
Safe manual control of the Furuta pendulum
Author :
Åkesson, Johan ; Åstrom, Karl Johan
Author_Institution :
Dept. of Autom. Control, Lund Inst. of Technol., Sweden
Abstract :
This paper deals with the manual control of unstable systems, subject to control signal saturation. In particular we consider the Furuta pendulum, where the problem is to control the orientation of the arm manually while stabilizing the inverted pendulum. This paper presents an analysis which leads to an insight into the problem as well as the control strategy. This control strategy has been implemented on the real Furuta pendulum. Aspects of the implementation as well as experimental results are discussed
Keywords :
cascade control; linearisation techniques; nonlinear systems; pendulums; stability; Furuta pendulum; cascade control; inverted pendulum; linearized system; saturation constrained system; stability; stabilization; Aerospace control; Automatic control; Control systems; Feedback loop; Human factors; Hydraulic actuators; Military aircraft; Mission critical systems; Stability; Torque control;
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
DOI :
10.1109/CCA.2001.973982
