Title :
Swinging up of simplified Furuta pendulum
Author :
Shiriaev, A.S. ; Ludvigsen, H. ; Egeland, O. ; Fradkov, A.L.
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
The paper contains a detailed analysis of the application of the passification approach to the problem of rendering the hyperbolic upright equilibrium of the simplified model of the Furuta pendulum globally attractive. It is shown that any smooth feedback control passifying the system with the naturally defined storage functions does not provide the desired property. Based on the idea of the VSS-like modification of the speed-gradient method, stabilizing regulator is suggested and studied both theoretically and by simulations.
Keywords :
gradient methods; nonlinear control systems; pendulums; stability; Furuta pendulum; VSS-like modification; hyperbolic upright equilibrium; nonlinear pendulum-like system; passification approach; rendering; speed-gradient method; stabilizing regulator; Closed loop systems; Energy states; Feedback control; Manifolds; Polynomials; Regulators; Trajectory; discontinuous feedback control; nonlinear pendulum-like system; speed-gradient method;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
