A new swing-up law for the Furuta pendulum

DOI10.1080/0020717031000116506MaRDI QIDQ4450434zbMATH OpenOpenAlexFDO

Authors F. Gordillo, Jose Ángel Acosta, J. Aracil

Publication date 15 February 2004

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/0020717031000116506

zbMATH Keywords

Furuta pendulumHamiltonian formulationspeed-gradient methodswinging-up problem

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10)

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Cites work

• A new model for control of systems with friction
• Normal forms for underactuated mechanical systems with symmetry
• Stabilization of the Furuta pendulum around its homoclinic orbit
• Swinging control of nonlinear oscillations
• Swinging up a pendulum by energy control

Cited in

(15)

• Swinging up the spherical pendulum via stabilization of its first integrals.
• Speed gradient method and its applications
• Swing-up time analysis of pendulum
• Adaptive control of rotary inverted pendulum system with time-varying uncertainties
• Reinforcement neural network for the stabilization of a Furuta pendulum
• A new controller for the inverted pendulum on a cart
• A remark on controlled Lagrangian approach
• A swinging up controller for the Furuta pendulum based on the total energy control system approach.
• The direct Lyapunov method for the stabilisation of the Furuta pendulum
• A Family of Pumping-Damping Smooth Strategies for Swinging Up a Pendulum
• VSS-version of energy-based control for swinging up a pendulum
• Robust control for unstable systems using finite time reachable set analysis and two player based predictive approach
• Stabilization of the Furuta pendulum based on a Lyapunov function
• A family of smooth controllers for swinging up a pendulum
• Furuta's pendulum: a conservative nonlinear model for theory and practise

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