DocumentCode
706946
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
fYear
1999
fDate
Aug. 31 1999-Sept. 3 1999
Firstpage
3611
Lastpage
3616
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1999 European
Conference_Location
Karlsruhe
Print_ISBN
978-3-9524173-5-5
Type
conf
Filename
7099891
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