Control of the Furuta pendulum based on a linear differential flatness approach

Author

Aguilar-Ibánez, Carlos ; Sira-Ramirez, Hebertt

Author_Institution

Centro de Investigacion en Computacion del IPN, Mexico

Volume

3

fYear

2002

fDate

2002

Firstpage

1954

Abstract

In this article, we present a flatness based control approach for the stabilization and equilibrium-to-equilibrium transfers, via trajectory tracking, of the Furuta pendulum. We introduce three feedback controller design options for the stabilization and rest-to-rest trajectory problems; a direct pole placement approach, a hierarchical high-gain approach and generalized proportional integral (GPI) approach, based only on measured inputs and outputs.

Keywords

control system synthesis; feedback; hierarchical systems; nonlinear control systems; pendulums; pole assignment; stability; two-term control; Furuta pendulum control; GPI approach; direct pole placement; equilibrium-to-equilibrium transfers; feedback controller design; generalized proportional integral approach; hierarchical high-gain approach; linear differential flatness approach; rest-to-rest trajectory problems; stabilization; trajectory tracking; Adaptive control; Control systems; Gravity; Open loop systems; PD control; Pi control; Proportional control; State feedback; Torque control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2002. Proceedings of the 2002

ISSN

0743-1619

Print_ISBN

0-7803-7298-0

Type

conf

DOI

10.1109/ACC.2002.1023921

Filename

1023921